Whisker Sensing by Force and Moment Measurements at the Whisker Base

Journal article


Starostin, E.L., Goss, V.G.A. and van der Heijden, G. (2022). Whisker Sensing by Force and Moment Measurements at the Whisker Base. Soft Robotics. https://doi.org/10.1089/soro.2021.0085
AuthorsStarostin, E.L., Goss, V.G.A. and van der Heijden, G.
Abstract

We address the theoretical question which forces and moments measured at the base of a whisker (tactile sensor) allow for the prediction of the location in space of the point at which a whisker makes contact with an object. We deal with the general case of three-dimensional deformations as well as with the special case of planar configurations. All deformations are treated as quasi-static, and contact is assumed to be frictionless. We show that the minimum number of independent forces or moments required is three but that conserved quantities of the governing elastic equilibrium equations prevent certain triples from giving a unique solution in the case of contact at any point along the whisker except the tip. The existence of these conserved quantities depends on the material and geometrical properties of the whisker. For whiskers that are tapered and intrinsically curved, there is no obstruction to the prediction of the contact point. We show that the choice of coordinate system (Cartesian or cylindrical) affects the number of suitable triples. Tip and multiple point contact are also briefly discussed. Our results explain recent numerical observations in the literature and offer guidance for the design of robotic tactile sensory devices.

KeywordsArtificial Intelligence; Biophysics; Control and Systems Engineering
Year2022
JournalSoft Robotics
PublisherMary Ann Liebert Inc.
ISSN2169-5172
2169-5180
Digital Object Identifier (DOI)https://doi.org/10.1089/soro.2021.0085
Publication dates
Online22 Aug 2022
Publication process dates
Deposited06 Sep 2022
Accepted author manuscript
License
File Access Level
Open
Additional information

This is the original submission version (pre-peer review) of the following article: E.L. Starostin, V.G.A. Goss, and G.H.M. van der Heijden.Whisker Sensing by Force and Moment Measurements at the Whisker Base, which has now been formally published in final form at Soft Robotics at v. This original submission version of the article may be used for non-commercial purposes in accordance with the Mary Ann Liebert, Inc., publishers’ self-archiving terms and conditions

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File access level: Open

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