Wegiriya, H., Herzig, N. orcid.org/0000-0002-5845-2697, Abad, S.-A. et al. (2 more authors) (2020) A stiffness controllable multimodal whisker sensor follicle for texture comparison. IEEE Sensors Journal, 20 (5). pp. 2320-2328. ISSN 1530-437X
Abstract
Mammals like rats, who live in dark burrows, heavily depend on tactile perception obtained through the vibrissal system to move through gaps and to discriminate textures. The organization of a mammalian whisker follicle contains multiple sensory receptors and glands strategically organized to capture tactile sensory stimuli of different frequencies. In this paper, we used a controllable stiffness soft robotic follicle to test the hypothesis that the multimodal sensory receptors together with the controllable stiffness tissues in the whisker follicle form a physical structure to maximize tactile information. In our design, the ring sinus and ringwulst of a biological follicle are represented by a linear actuator connected to a stiffness controllable mechanism in-between two different frequency-dependent data capturing modules. In this paper, we show for the first time the effect of the interplay between the stiffness and the speed of whisking on maximizing a difference metric for texture classification.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Whisker sensors; Tactile sensors; Soft robotic sensor; Bio-inspired sensors; Stiffness controllable sensors; Multimodal sensors |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 15 Jan 2020 10:23 |
Last Modified: | 21 Oct 2021 09:29 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Refereed: | Yes |
Identification Number: | 10.1109/jsen.2019.2951755 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:155661 |