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

Abstract

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.

3D Printed Graphene Piezoresistive Microelectromechanical System Sensors to Explain the Ultrasensitive Wake Tracking of Wavy Seal Whiskers

“…In this manner, the seal whisker sensing system demonstrates a high signal-to-noise ratio (SNR) and exhibits high sensitivity to the hydrodynamic signals such as the vortex wake of escaping prey, allowing the seal to track these hydrodynamic trails accurately. The seal whisker's VIV suppression capability has also inspired the designs of flow sensors, [31][32][33][34][35][36][37][38][39] marine platforms, [40] underwater vehicles, [39,41] and aerofoils, [42] all of which featured undulating structural designs inspired by the seal whisker, and helped reduce self-generated noise and VIV-generated forces. Seal whisker inspired artificial flow sensor designs can mimic the sensing mechanisms deployed by the biological seal whiskers to attain ultrahigh sensitivity due to the high signalto-noise ratio enabling long-distance wake detection and could provide promising alternatives to visual and acoustic sensors in detecting the surroundings of underwater robots.…”

A High-Performance Flag-Type Triboelectric Nanogenerator for Scavenging Wind Energy toward Self-Powered IoTs

“…Wang’s team invented the triboelectric nanogenerator, in 2012, based on a combination of triboelectrification and electrostatic induction [ 22 , 23 , 24 , 25 , 26 ]. It has been proven to harvest fluttering wind energy with a wide frequency range due to its advantages of low cost, light weight, simple structure, stable output, wide choice of materials, and strong environmental adaptability [ 27 , 28 , 29 , 30 , 31 , 32 , 33 ]. Recently, many scholars have devoted themselves to the research of fluttering wind energy harvesters.…”

A Self‐powered Triboelectric Coral‐Like Sensor Integrated Buoy for Irregular and Ultra‐Low Frequency Ocean Wave Monitoring

“…designed a bionic triboelectric whisker sensor that mimics the follicle structure of rats, offering a new tactile sensing solution for reactive obstacle avoidance and local mapping in unknown environments. [ 41,42 ] A unique elastic structure of a bionic jellyfish TENG was proposed by Chen et al., in which the TENG had high output performance and effectively monitored liquid level fluctuation. [ 43 ]…”

“…[38][39][40] Particularly inspired by mammals in nature, Wang et al designed a bionic triboelectric whisker sensor that mimics the follicle structure of rats, offering a new tactile sensing solution for reactive obstacle avoidance and local mapping in unknown environments. [41,42] A unique elastic structure of a bionic jellyfish TENG was proposed by Chen et al, in which the TENG had high output performance and effectively monitored liquid level fluctuation. [43] Based on the findings of the aforementioned studies, suitable bionic structures combined with TENGs may provide a promising solution to ocean wave perception.…”