触覚センシングのための振動子に着想を得た視覚ベースの磁気駆動型ウィスカー

Tactile perception is significant for robotic operation in unstructured environments. Whisker-based sensors offer lightweight bio-inspired solutions, yet most rely on single-whisker sensing and are limited by passive interaction and constrained functionality. Here we present a circular array of eight independently actuated whiskers, each driven by a pulse-switchable permanent magnet and tracked by a camera. This design enables simultaneous multi-point sensing and coordinated actuation, supporting diverse functions. Quantitative analyses demonstrate accurate pixel-to-physical mapping, consistent pixel-to-force characterization, and long-term repeatability. In this work, we show that an vibrissae-inspired vision-based magnetic-actuated whisker array integrating distributed perception with active interaction achieves reliable physical mapping, repeatable sensing, and delicate grasping, thereby advancing tactile sensing and laying the foundation for contact-driven exploration, soft manipulation, and adaptive behavior in dynamic environments.