A Vibrissa-Inspired Highly Flexible Tactile Sensor: Scanning 3D Object Surfaces Providing Tactile Images

Area of Science:

• Robotics
• Sensor Technology
• Biomimetics

Background:

• Robots often require advanced tactile sensing for tasks in environments with poor visibility.
• Natural vibrissae (whiskers) in animals like rats serve as a biological model for tactile sensor development.

Purpose of the Study:

• To present a vibrissa-inspired sensor concept for 3D object scanning and reconstruction.
• To demonstrate the sensor's applicability in mobile robotic systems.

Main Methods:

• A flexible rod attached to a 3D force-torque transducer was used to mimic biological vibrissae.
• The scanning process involved translationally shifting the rod's base across an object's surface.
• Support reactions at the rod's base were analyzed for contact localization and object reconstruction.

Main Results:

• Theoretical generation of support reactions was presented, forming a basis for parameter studies.
• The sensor demonstrated suitability for passive dragging on a mobile robot without active slip prevention.
• Experimental scans using an artificial vibrissa and a glass sphere validated the theoretical findings.

Conclusions:

• The vibrissa-inspired sensor concept is a viable approach for 3D object scanning and reconstruction in robotics.
• The developed method provides a proof of concept for tactile sensing in mobile robots, particularly in challenging visibility conditions.