Sea lions could use multilateration localization for object tracking as tested with bio-inspired whisker arrays

Previous behavioural research on live sea lions has shown that they are able to detect the direction of oncoming vortices, even when impacting contralaterally. These experiments showed that the whisker system and the animal’s neural processing is seemingly able to detect the Direction of Arrival (DoA) from just one side of the heads vibrissal pads. Therefore, temporal differences between whisker stimulation is a likely method for determining the angle. Herein, a theoretical model is presented based on multilateration, and tested by experimental studies on a 2D array of bio-inspired whiskers with regular spacing, and a 3D array of bio-inspired whiskers on a model head of a sea lion, as used in our previous studies. The results show that arrays of whiskers can in principle work as antennae to determine the DoA. This detection of the DoA is achieved by cross-correlation of triplets of whiskers, and Time Difference Of Arrival based multilateration, a method similar to signal processing in modern communication systems and other source localization applications. The results on the 2D array are conclusive and clearly support the hypothesis, while increased uncertainties were found for the 3D array, which could be explained by structural shortcomings of the experimental model. Possible ways to improve the signal are discussed.

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.

A biomimetic fish finlet with a liquid metal soft sensor for proprioception and underwater sensing

Finlets have a unique overhanging structure at the back, similar to a flag. They are located between the dorsal/anal fin and the caudal fin on the sides of the body. Until now, the sensing ability of finlets has not been well understood. In this paper, we design and manufacture a biomimetic soft robotic finlet (48.5 mm long, 30 mm high) with mechanosensation based on printed stretchable liquid metal sensors. The robotic finlet's posterior fin ray can achieve side-to-side movement orthogonal to the anterior fin ray. A flow sensor encapsulating a liquid metal sensor network enables the biomimetic finlets to sense the direction and flow intensity. The stretchable liquid metal sensors mounted on micro-actuators are utilized to perceive the swing motion of the fin ray. We found that the finlet prototype can sense the flapping amplitudes and frequency of the fin ray. The membrane between the two orthogonal fin rays can amplify the sensor output. Our results indicate that the overhanging structure endows the biomimetic finlet with the ability to sense external stimuli from stream-wise, lateral and vertical directions. We further demonstrate, through digital particle image velocimetry experiments, that the finlet can detect a Kármán vortex street. This study lays the foundations for exploring the environmental perception of biological fish fins and provides a new approach for the perception of complex flow environments by future underwater robots.

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.

Improving the Detection of the Contact Point in Active Sensing Antennae by Processing Combined Static and Dynamic Information

The design and application of sensing antenna devices that mimic insect antennae or mammal whiskers is an active field of research. However, these devices still require new developments if they are to become efficient and reliable components of robotic systems. We, therefore, develop and build a prototype composed of a flexible beam, two servomotors that drive the beam and a load cell sensor that measures the forces and torques at the base of the flexible beam. This work reports new results in the area of the signal processing of these devices. These results will make it possible to estimate the point at which the flexible antenna comes into contact with an object (or obstacle) more accurately than has occurred with previous algorithms. Previous research reported that the estimation of the fundamental natural frequency of vibration of the antenna using dynamic information is not sufficient as regards determining the contact point and that the estimation of the contact point using static information provided by the forces and torques measured by the load cell sensor is not very accurate. We consequently propose an algorithm based on the fusion of the information provided by the two aforementioned strategies that enhances the separate benefits of each one. We demonstrate that the adequate combination of these two pieces of information yields an accurate estimation of the contacted point of the antenna link. This will enhance the precision of the estimation of points on the surface of the object that is being recognized by the antenna. Thorough experimentation is carried out in order to show the features of the proposed algorithm and establish its range of application.

The effect of optic flow cues on honeybee flight control in wind

To minimize the risk of colliding with the ground or other obstacles, flying animals need to control both their ground speed and ground height. This task is particularly challenging in wind, where head winds require an animal to increase its airspeed to maintain a constant ground speed and tail winds may generate negative airspeeds, rendering flight more difficult to control. In this study, we investigate how head and tail winds affect flight control in the honeybee Apis mellifera, which is known to rely on the pattern of visual motion generated across the eye-known as optic flow-to maintain constant ground speeds and heights. We find that, when provided with both longitudinal and transverse optic flow cues (in or perpendicular to the direction of flight, respectively), honeybees maintain a constant ground speed but fly lower in head winds and higher in tail winds, a response that is also observed when longitudinal optic flow cues are minimized. When the transverse component of optic flow is minimized, or when all optic flow cues are minimized, the effect of wind on ground height is abolished. We propose that the regular sidewards oscillations that the bees make as they fly may be used to extract information about the distance to the ground, independently of the longitudinal optic flow that they use for ground speed control. This computationally simple strategy could have potential uses in the development of lightweight and robust systems for guiding autonomous flying vehicles in natural environments.

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.

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.