Artificial Whiskers Research Articles

Whisker-Implanted Biomimetic Electronic Skin for Tactile Sensing and Blind Perception.

Rodent whiskers are a distinct class of tactile sensors that work in conjunction with the biological skin to discern airstreams and obstacles with remarkable sensitivity, facilitating navigation around proximate objects. In this study, a flexible artificial skin is developed comprising sensory active units, including electronic skin (e-skin) and an artificial whisker, inspired by the sensory capabilities of rodent skin and whiskers. As a novel strategy, unique congruent air pockets are introduced within the e-skin to enhance the sensitivity. Mechanical stimuli applied to the artificial whisker are efficiently transmitted to the active e-skin, which generates a sensitive tactile perception response. The developed artificial skin exhibits high sensitivity, a wide sensing range, high flexibility, superior stability, and tensile strength. The artificial whisker facilitates the sensitive detection of a broad range of applied mechanical forces. Therefore, the artificial skin can sense subtle and vigorous tactile stimuli including airstreams and field obstacles. The ability to sense, discriminate, and decipher the airstreams and obstacles imparts outstanding tactile sensing and blind perception characteristics to the artificial skin. This artificial skin is a promising platform for the development of sensitive e-skins suitable for a broad range of applications, such as human-machine interfaces, robotics, and wearable electronics.

Visualized in-sensor computing

In artificial nervous systems, conductivity changes indicate synaptic weight updates, but they provide limited information compared to living organisms. We present the pioneering design and production of an electrochromic neuromorphic transistor employing color updates to represent synaptic weight for in-sensor computing. Here, we engineer a specialized mechanism for adaptively regulating ion doping through an ion-exchange membrane, enabling precise control over color-coded synaptic weight, an unprecedented achievement. The electrochromic neuromorphic transistor not only enhances electrochromatic capabilities for hardware coding but also establishes a visualized pattern-recognition network. Integrating the electrochromic neuromorphic transistor with an artificial whisker, we simulate a bionic reflex system inspired by the longicorn beetle, achieving real-time visualization of signal flow within the reflex arc in response to environmental stimuli. This research holds promise in extending the biomimetic coding paradigm and advancing the development of bio-hybrid interfaces, particularly in incorporating color-based expressions.

Nanofibrous PAN-PDMS Films-Based High-Performance Triboelectric Artificial Whisker for Self-Powered Obstacle Detection.

Avoiding collisions is a key necessity for any autonomous mobile robot, and obstacle mapping enables them to maneuver in an uncharted area. In this era of the Internet of Things, with the emerging need for a multitude of sensors, adopting self-powered technologies is more practically viable than batteries for powering the same. Herein, with the fabrication of a triboelectric artificial whisker (TAW), a self-powered obstacle detection is demonstrated via tactile perception. The mechanical contact with the obstacle gives rise to an electrical signal from the TAW owing to the embedded triboelectric sensor. In addition, the triboelectric nanogenerator (TENG) based on electrospun polyacrylonitrile (PAN) nanofibers and polydimethylsiloxane film, which facilitates this self-powered artificial sensation, generates an output voltage of 720V and current density of 5mA m-2 with 1.7W m-2 of maximum power delivery from a force of 10 N. The electro-spinning aided enhancement in contact area of the PAN is responsible for the remarkable improvement in the performance of the TENG, 3.4 times enhancement in power density, when compared to the nonsurface-modified ones. In addition, the TENG is able to charge commercial capacitors up to appreciable values and demonstrates powering different electronic gadgets such as calculators and thermometers.

Bioinspired, Multifunctional, Active Whisker Sensors for Tactile Sensing of Mobile Robots

Whiskers of some animals, such as rats and cats, can actively sense stimuli from their surrounding environment. Such a capability is attractive for intelligent mobile robots. However, an artificial whisker with similar abilities has not been fully developed so that the robots acquire their surrounding environment information in an active approach such as rats. In this paper, we propose a new bioinspired active whisking tactile sensor (MAWS) capable of sensing the distance, shape, size, and orientation of caves and environmental conditions. Two orthogonally distributed linear Hall sensors are mounted beneath a circular permanent magnet for spatial localization of the whisker. The whisker is then actuated and controlled by an array of nine electromagnetic coils by tuning the excitation current and phase sequence. Conical pendulum and bidirectional sweeping strategies were designed to mimic the simultaneous perception behavior of rats. A reactive obstacle avoidance experiment was also conducted to evaluate the performance of the proposed MAWS installed on a mobile robot.

Artificial Whisker Sensor with Undulated Morphology and Self-Spread Piezoresistors for Diverse Flow Analyses.

Harbor seal whiskers possess an undulated surface morphology that can effectively modify the vortex street behind the whiskers and suppress vortex-induced vibrations (VIVs). In this study, we propose a novel piezoresistive flow sensor that mimics the function of seal whiskers. The sensor consists of a bionic whisker with an undulated morphology and integrated out-of-plane piezoresistors. The piezoresistors are formed using a novel directional liquid spreading method to deliver a conductive nanocomposite ink into four Ω-shaped microchannels. Steady flow experiments indicate that the undulated morphology of the artificial whisker significantly reduces the drag forces and VIVs of the whisker at an angle of attack of 0°. Moreover, the whisker sensor can measure the oscillatory flow, which reaches a threshold detection limit of 8 mm/s. In addition, we demonstrate the function of the artificial whisker sensor to distinguish various wakes induced by upstream cylinders. Therefore, the facile fabrication and preliminary experiments of the artificial whisker sensor demonstrate its potential application in diverse flow analyses.

A novel whisker sensor with variable detection range for object positioning.

The design of a whisker sensor, inspired by mammalian whisker characteristics, is presented in this paper. It uses a novel spring structure to transfer the deformation generated by the whisker tip when it touches an object at the base, which drives the permanent magnet installed at the base to change its position. It achieves precise positioning of the object by using the magnetic induction intensity data output from the Hall sensor MLX90393. Based on the results of the finite element model analysis, the detection range of the whisker sensor can be expanded by replacing the artificial whisker material and selecting a permanent magnet of a suitable size. Calibration experiments and positioning tests were conducted on the sensor. The experimental results showed that the detection radius of the sensor was 24, 30, 33, and 39 mm for the carbon fiber, acrylic, acrylonitrile butadiene styrene plastic (ABS), and nylon whiskers, respectively, when they were matched with a NdFeB annular permanent magnet with an aperture of 3 mm and a thickness of 3 mm. The sensor is small and simple to manufacture with good sensitivity, linearity, hysteresis, and repeatability. The maximum positioning errors of the X and Y positions in the detection plane of the sensor were within ±1.3 mm, and the positioning was accurate. The sensor can be used to identify the shape of an object.

Mechanics and Morphological Compensation Strategy for Trimmed Soft Whisker Sensor.

Recent studies have been inspired by natural whiskers for a proposal of tactile sensing system to augment the sensory ability of autonomous robots. In this study, we propose a novel artificial soft whisker sensor that is not only flexible but also adapts and compensates for being trimmed or broken during operation. In this morphological compensation designed from an analytical model of the whisker, our sensing device actively adjusts its morphology to regain sensitivity close to that of its original form (before being broken). To serve this purpose, the body of the whisker comprises a silicon-rubber truncated cone with an air chamber inside as the medulla layer, which is inflated to achieve rigidity. A small strain gauge is attached to the outer wall of the chamber for recording strain variation upon contact of the whisker. The chamber wall is reinforced by two inextensible nylon fibers wound around it to ensure that morphology change occurs only in the measuring direction of the strain gauge by compressing or releasing pressurized air contained in the chamber. We investigated an analytical model for the regulation of whisker sensitivity by changing the chamber morphology. Experimental results showed good agreement with the numerical results of performance by an intact whisker in normal mode, as well as in compensation mode. Finally, adaptive functionality was tested in two separate scenarios for thorough evaluation: (1) A short whisker (65 mm) compensating for a longer one (70 mm), combined with a special case (self-compensation), and (2) vice versa. Preliminary results showed good feasibility of the idea and efficiency of the analytical model in the compensation process, in which the compensator in the typical scenario performed with 20.385% average compensation error. Implementation of the concept in the present study fulfills the concept of morphological computation in soft robotics and paves the way toward accomplishment of an active sensing system that overcomes a critical event (broken whisker) based on optimized morphological compensation.

Fluid-Structure Interaction of Flexible Whisker-Type Beams and Its Implications for Flow Sensing by Pair-Wise Correlation

(1) Background: Sensing of critical events or flow signatures in nature often presents itself as a coupled interaction between a fluid and arrays of slender flexible beams, such a wind-hairs or whiskers. It is hypothesized that important information is gained in highly noisy environments by the inter-correlation within the array. (2) Methods: The present study uses a model sea lion head with artificial whiskers in the form of slender beams (optical fibres), which are subjected to a mean flow with overlaid turbulent structures generated in the wake of a cylinder. Motion tracking of the array of fibres is used to analyse the correlation of the bending deformations of pairs of fibres. (3) Results: Cross-correlation of the bending signal from tandem pairs of whiskers proves that the detection of vortices and their passage along the animals head is possible even in noisy environments. The underlying pattern, during passage of a vortex core, is a jerk-like response of the whiskers, which can be found at later arrival-times in similar form in the downstream whisker’s response. (4) Conclusions: Coherent vortical structures can be detected from cross-correlation of pairs of cantilever-beam like sensors even in highly turbulent flows. Such vortices carry important information within the environment, e.g., the underlying convection velocity. More importantly in nature, these vortices are characteristic elementary signals left by prey and predators. The present work can help to further develop flow, or critical event, sensory systems which can overcome high noise levels due to the proposed correlation principle.

A Triboelectric-Based Artificial Whisker for Reactive Obstacle Avoidance and Local Mapping.

Since designing efficient tactile sensors for autonomous robots is still a challenge, this paper proposes a perceptual system based on a bioinspired triboelectric whisker sensor (TWS) that is aimed at reactive obstacle avoidance and local mapping in unknown environments. The proposed TWS is based on a triboelectric nanogenerator (TENG) and mimics the structure of rat whisker follicles. It operates to generate an output voltage via triboelectrification and electrostatic induction between the PTFE pellet and copper films (0.3 mm thickness), where a forced whisker shaft displaces a PTFE pellet (10 mm diameter). With the help of a biologically inspired structural design, the artificial whisker sensor can sense the contact position and approximate the external stimulation area, particularly in a dark environment. To highlight this sensor's applicability and scalability, we demonstrate different functions, such as controlling LED lights, reactive obstacle avoidance, and local mapping of autonomous surface vehicles. The results show that the proposed TWS can be used as a tactile sensor for reactive obstacle avoidance and local mapping in robotics.

A Deep-Learning Model for Underwater Position Sensing of a Wake's Source Using Artificial Seal Whiskers.

Various marine animals possess the ability to track their preys and navigate dark aquatic environments using hydrodynamic sensing of the surrounding flow. In the present study, a deep-learning model is applied to a biomimetic sensor for underwater position detection of a wake-generating body. The sensor is composed of a bundle of spatially-distributed optical fibers that act as artificial seal-like whiskers and interact with the body’s wake in the form of time-variant (bending) deflections. Supervised learning is employed to relate the vibrations of the artificial whiskers to the position of an upstream cylinder. The labeled training data are prepared based on the processing and reduction of the recorded bending responses of the artificial whiskers while the cylinder is placed at various locations. An iterative training algorithm is performed on two neural-network models while using the 10-fold cross-validation technique. The models are able to predict the coordinates of the cylinder in the two-dimensional (2D) space with a high degree of accuracy. The current implementation of the sensor can passively sense the wake generated by the cylinder at Re ≃ 6000 and estimate its position with an average error smaller than the characteristic diameter D of the cylinder and for inter-distances (in the water tunnel) up to 25-times D.

Tapered Polymer Whiskers to Enable Three-Dimensional Tactile Feature Extraction.

Many mammals use their vibrissae (whiskers) to tactually explore their surrounding environment. Vibrissae are thin tapered structures that transmit mechanical signals to a wealth of mechanical receptors (sensors) located in a follicle at each vibrissal base. A recent study has shown that-provided that the whisker is tapered-three mechanical signals at the base are sufficient to determine the three-dimensional location at which a whisker made contact with an object. However, creating biomimetic tapered whiskers has proved challenging from both materials and manufacturing standpoints. This study develops and characterizes an artificial whisker for use as part of a sensory input device that is a biomimic of the biological rat whisker neurosensory system. A novel manufacturing process termed surface conforming fiber drawing (SCFD) is developed to produce artificial whiskers that meet the requirements to be a successful mechanical and geometric mimic of the biological rat vibrissae. Testing the sensory capabilities of the artificial whisker shows improved performance over previous nontapered filaments. SCFD-manufactured tapered whiskers demonstrate the ability to predict contact point locations with a median distance error of 0.47 cm.

A novel biomimetic whisker technology based on fiber Bragg grating and its application

The paper describes a novel, biomimetic whisker-based sensing technology following the basic design of the facial whiskers of animals such as rats and mice. The sensor consists of a whisker array on each side of a robot. In experiments with the artificial whiskers, the motor drives rotating whiskers, and the center wavelength of a fiber Bragg grating pasted on the whisker will shift when the whisker touches an obstacle. The distance will be obtained by processing the wavelength shift data with algorithms. Then the shape recognition can be realized by postprocessing the distance data. The experimental results prove that the whisker array is capable of accurately gathering the distance and shape information of an object.

Radial Distance Estimation with Tapered Whisker Sensors.

Rats use their whiskers as tactile sensors to sense their environment. Active whisking, moving whiskers back and forth continuously, is one of prominent features observed in rodents. They can discriminate different textures or extract features of a nearby object such as size, shape and distance through active whisking. There have been studies to localize objects with artificial whiskers inspired by rat whiskers. The linear whisker model based on beam theory has been used to estimate the radial distance, that is, the distance between the base of the whisker and a target object. In this paper, we investigate deflection angle measurements instead of forces or moments, based on a linear tapered whisker model to see the role of tapered whiskers found in real animals. We analyze how accurately this model estimates the radial distance, and quantify the estimation errors and noise sensitivity. We also compare the linear model simulation and nonlinear numerical solutions. It is shown that the radial distance can be estimated using deflection angles at two different positions on the tapered whisker. We argue that the tapered whisker has an advantage of estimating the radial distance better, as compared to an untapered whisker, and active sensing allows that estimation without the whisker’s material property and thickness or the moment at base. In addition, we investigate the potential of passive sensing for tactile localization.

Tactile Sensing with Whiskers of Various Shapes: Determining the Three-Dimensional Location of Object Contact Based on Mechanical Signals at the Whisker Base.

Almost all mammals use their mystacial vibrissae (whiskers) as important tactile sensors. There are no sensors along the length of a whisker: all sensing is performed by mechanoreceptors at the whisker base. To use artificial whiskers as a sensing tool in robotics, it is essential to be able to determine the three-dimensional (3D) location at which a whisker has made contact with an object. With the assumption of quasistatic, frictionless, single-point contact, previous work demonstrated that the 3D contact point can be uniquely determined if all six components of force and moment are measured at the whisker base, but these measurements require a six-axis load cell. Here, we perform simulations to investigate the extent to which each of the 20 possible "triplet" combinations of the six mechanical signals at the whisker base uniquely determine 3D contact point location. We perform this analysis for four different whisker profiles (shapes): tapered with and without intrinsic curvature, and cylindrical with and without intrinsic curvature. We show that whisker profile has a strong influence on the particular triplet(s) of signals that uniquely map to the 3D contact point. The triplet of bending moment, bending moment direction, and axial force produces unique mappings for tapered whiskers. Four different mappings are unique for a cylindrical whisker without intrinsic curvature, but only when large deflections are excluded. These results inform the neuroscience of vibrissotactile sensing and represent an important step toward the development of artificial whiskers for robotic applications.

Whisker Contact Detection of Rodents Based on Slow and Fast Mechanical Inputs.

Rodents use their whiskers to locate nearby objects with an extreme precision. To perform such tasks, they need to detect whisker/object contacts with a high temporal accuracy. This contact detection is conveyed by classes of mechanoreceptors whose neural activity is sensitive to either slow or fast time varying mechanical stresses acting at the base of the whiskers. We developed a biomimetic approach to separate and characterize slow quasi-static and fast vibrational stress signals acting on a whisker base in realistic exploratory phases, using experiments on both real and artificial whiskers. Both slow and fast mechanical inputs are successfully captured using a mechanical model of the whisker. We present and discuss consequences of the whisking process in purely mechanical terms and hypothesize that free whisking in air sets a mechanical threshold for contact detection. The time resolution and robustness of the contact detection strategies based on either slow or fast stress signals are determined. Contact detection based on the vibrational signal is faster and more robust to exploratory conditions than the slow quasi-static component, although both slow/fast components allow localizing the object.

Wake-induced ‘slaloming’ response explains exquisite sensitivity of seal whisker-like sensors

Blindfolded harbour seals are able to use their uniquely shaped whiskers to track vortex wakes left by moving animals and identify objects that passed by 30 s earlier, an impressive feat, as the flow features have velocities as low as$1~\text{mm}~\text{s}^{-1}$. The seals sense while swimming, hence their whiskers are sensitive enough to detect small-scale changes in the flow, while rejecting self-generated flow noise. Here we identify and illustrate a novel flow mechanism, causing a large-amplitude ‘slaloming’ whisker response, which allows artificial whiskers with the identical unique undulatory geometry as those of the harbour seal to detect the features of minute flow fluctuations when placed within wakes. Whereas in open water the whisker responds with very low-amplitude vibration, once within a wake, it oscillates with large amplitude and, importantly, its response frequency coincides with the Strouhal frequency of the upstream cylinder, making the detection of an upstream wake and an estimation of the size and shape of the wake-generating body possible. This mechanism has some similarities with the flow mechanisms observed in actively controlled propulsive foils within upstream wakes and trout swimming behind bluff cylinders in a stream, but there are also differences caused by the unique whisker morphology, which enables it to respond passively and within a much wider parametric range.

Tactile soft-sparse mean fluid-flow imaging with a robotic whisker array

An array of whiskers is critical to many mammals to survive in their environment. However, current engineered systems generally employ vision, radar or sonar to explore the surroundings, not having sufficiently benefited from tactile perception. Inspired by the whisking animals, we present here a novel tomography-based tactile fluid-flow imaging technique for the reconstruction of surroundings with an artificial whisker array. The moment sensed at the whisker base is the weighted integral of the drag force per length, which is proportional to the relative velocity squared on a whisker segment. We demonstrate that the 2D cross-sectional mean fluid-flow velocity-field can be successfully mapped out by collecting moment measurements at different angular positions with the whisker array. We use a regularized version of the FOCal underdetermined system solver algorithm with a smoothness constraint to obtain soft-sparse static estimates of the 2D cross-sectional velocity-squared distribution. This new proposed approach has the strong potential to be an alternative environmental sensing technology, particularly in dark or murky environments.

Fully Printed, Highly Sensitive Multifunctional Artificial Electronic Whisker Arrays Integrated with Strain and Temperature Sensors

Mammalian-mimicking functional electrical devices have tremendous potential in robotics, wearable and health monitoring systems, and human interfaces. The keys to achieve these devices are (1) highly sensitive sensors, (2) economically fabricated macroscale devices on flexible substrates, and (3) multifunctions beyond mammalian functions. Although highly sensitive artificial electronic devices have been reported, none have been fabricated using cost-effective macroscale printing methods and demonstrate multifunctionalities of artificial electronics. Herein we report fully printed high-sensitivity multifunctional artificial electronic whiskers (e-whisker) integrated with strain and temperature sensors using printable nanocomposite inks. Importantly, changing the composition ratio tunes the sensitivity of strain. Additionally, the printed temperature sensor array can be incorporated with the strain sensor array beyond mammalian whisker functionalities. The sensitivity for the strain sensor is impressively high (∼59%/Pa), which is the best sensitivity reported to date (>7× improvement). As the proof-of-concept for a truly printable multifunctional artificial e-whisker array, two- and three-dimensional space and temperature distribution mapping are demonstrated. This fully printable flexible sensor array should be applicable to a wide range of low-cost macroscale electrical applications.

Highly sensitive electronic whiskers based on patterned carbon nanotube and silver nanoparticle composite films

Mammalian whiskers present an important class of tactile sensors that complement the functionalities of skin for detecting wind with high sensitivity and navigation around local obstacles. Here, we report electronic whiskers based on highly tunable composite films of carbon nanotubes and silver nanoparticles that are patterned on high-aspect-ratio elastic fibers. The nanotubes form a conductive network matrix with excellent bendability, and nanoparticle loading enhances the conductivity and endows the composite with high strain sensitivity. The resistivity of the composites is highly sensitive to strain with a pressure sensitivity of up to ∼8%/Pa for the whiskers, which is >10× higher than all previously reported capacitive or resistive pressure sensors. It is notable that the resistivity and sensitivity of the composite films can be readily modulated by a few orders of magnitude by changing the composition ratio of the components, thereby allowing for exploration of whisker sensors with excellent performance. Systems consisting of whisker arrays are fabricated, and as a proof of concept, real-time two- and three-dimensional gas-flow mapping is demonstrated. The ultrahigh sensitivity and ease of fabrication of the demonstrated whiskers may enable a wide range of applications in advanced robotics and human-machine interfacing.

Printable Nanomaterials for Flexible Electronics

Printed electronics of inorganic nanomaterials are presented as macroscale flexible devices such as artificial electronic skin, high performance transistors, and biologically inspired devices. This talk was especially focused on active components consisted of printed nanomaterials for transistors and sensors on flexible substrates. The nanomaterials were uniformly patterned over the macroscale arbitrary substrates of polymer, plastic and silicon. Inorganic semiconductor materials used mainly here allow to achieve air-stable high performance devices. The flexible devices show impressively high mechanical robustness, high mobility, high radio frequency for wireless applications, and high sensitivity of sensors. By using the printable nanomaterials, heterogeneously integrated artificial electronic skin and whiskers were also demonstrated as proof of concept.