An Artificial Vibrissa-Like Sensor for Detection of Flows

Electronic whiskers for velocity sensing based on the liquid metal hysteresis effect

The artificial biomimetic sensory hair as state-of-art electronics has drawn great attention from academic theorists of industrial production given its potential application in soft robotics, environmental exploration and health monitoring. However, it still remains a challenge to develop highly sensitive electronic sensory hair with fast response. In this study, a bio-inspired electronic whisker (e-whisker) with a hollow polymer shell and a liquid metal core was prepared by microinjection for airflow measurement and detection of obstacles. In addition, we illustrated the effect of liquid metal hysteresis on its distribution in microchannels on deformation. The difference in the deformed velocity between the selected fiber and EGaIn would result in a disturbance emerging in the liquid metal channel, which further causes a variation in resistance. Taking advantage of this phenomenon, the integrated fiber e-whisker can be employed to detect tiny airflow and disturbance. The experimental results indicate that the fiber sensor can detect the airflow velocity as low as 0.2 m s^-1 within 0.1 s. The e-whisker can accurately monitor rainfall, human motion and object velocity. This work sheds light on the liquid metal viscosity-induced sensing mechanism and offers a novel strategy to fabricate high-performance velocity sensors.

Design and fabrication of an E-whisker using a PVDF ring

Mammalian whiskers can perceive obstacles and airflows. In this study, an electronic whisker (E-whisker) sensor was designed and fabricated by setting a PVDF ring with symmetrical electrodes on the root of a fiber beam. Vibration displacements with different waveforms were applied at the free end of the E-whisker beam to study the relationship between the vibration displacements and the output signals. The E-whisker protrusion sensing ability was investigated by driving it to sweep through the surface of a base platform. A static E-whisker beam and a swinging E-whisker were then separately placed in a wind tunnel to detect the airflow perception of the sensor. The experimental results suggested that the E-whisker could sense the frequencies and amplitudes of displacements at its free end, the height and width of a platform or the heights of other irregular protrusions; the static E-whisker could sense the magnitude or direction of an impact airflow, while the swinging E-whisker could sense the magnitude of a constant airflow. Thus, this kind of E-whisker could perceive the environment and airflow through touch sensation and could be used as a physical model to study the principles and abilities of animal whiskers to perceive obstacles and airflows.

Effects of Multi-Point Contacts during Object Contour Scanning Using a Biologically-Inspired Tactile Sensor

Vibrissae are an important tactile sense organ of many mammals, in particular rodents like rats and mice. For instance, these animals use them in order to detect different object features, e.g., object-distances and -shapes. In engineering, vibrissae have long been established as a natural paragon for developing tactile sensors. So far, having object shape scanning and reconstruction in mind, almost all mechanical vibrissa models are restricted to contact scenarios with a single discrete contact force. Here, we deal with the effect of multi-point contacts in a specific scanning scenario, where an artificial vibrissa is swept along partly concave object contours. The vibrissa is modeled as a cylindrical, one-sided clamped Euler-Bernoulli bending rod undergoing large deflections. The elasticae and the support reactions during scanning are theoretically calculated and measured in experiments, using a spring steel wire, attached to a force/torque-sensor. The experiments validate the simulation results and show that the assumption of a quasi-static scanning displacement is a satisfying approach. Beyond single- and two-point contacts, a distinction is made between tip and tangential contacts. It is shown that, in theory, these contact phases can be identified solely based on the support reactions, what is new in literature. In this way, multipoint contacts are reliably detected and filtered in order to discard incorrectly reconstructed contact points.