Fiber Bragg grating-based biomimetic whisker for shape and texture recognition

Jiang, Qi; Wei, Guozhao; Zhao, Chenlu

doi:10.1088/1748-0221/13/11/p11013

Cited by 6 publications

(3 citation statements)

References 12 publications

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“…A promising approach involves the use of touch-based sensors to map the surface of the mine, with bioinspired mammalian sensors emerging as a viable alternative due to their demonstrated robustness, simplicity, and precision [3]. The versatility of such sensors is evident in their application for various purposes, ranging from object localization [4][5][6], contour and texture recognition [3,7,8], and even fluid flow direction and viscosity [9][10][11]. With particular emphasis on robot navigation and mapping, the integration of active and passive whiskers into the structure of mobile robots and robot manipulators [12][13][14][15][16] has shown great potential for obstacle avoidance and Simultaneous Localization and Mapping (SLAM) tasks [17,18].…”

Section: Introductionmentioning

confidence: 99%

Bioinspired Whisker Sensor for 3D Mapping of Underground Mining Environments

Gomez,

Remmas,

Hernando

et al. 2024

Biomimetics

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Traversing through challenging, unstructured environments, particularly in mining scenarios characterized by dust concentration, darkness, and lack of communication presents formidable obstacles for traditional sensing technologies. Drawing inspiration from naked mole rats, characterized as being skilled subterranean navigators that depend heavily on touch to navigate their environment, this study introduces a new whisker-sensing disk designed for 3D mapping in unstructured environments. The disk comprises a circular array of 32 whisker sensors, each featuring a slender flexible plastic rod attached to a compliant base housing a 3D Hall-effect sensor. The whisker sensor is modeled using both analytical and data-driven approaches to predict rotation angles based on magnetic field measurements. The validation and comparison of both models are performed by evaluating data from other whisker sensors. Additionally, a series of experiments demonstrates the whisker disk’s capability in performing 3D-mapping tasks, along with successful implementation on diverse robotic platforms, highlighting its future potential for effective 3D mapping in complex and unstructured subterranean environments.

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Section: Introductionmentioning

confidence: 99%

Bioinspired Whisker Sensor for 3D Mapping of Underground Mining Environments

Gomez,

Remmas,

Hernando

et al. 2024

Biomimetics

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“…The sensor has good linearity but low sensitivity. Jiang et al [ 17 ] installed optical fiber whisker arrays on both sides of a robot, which can recognize the contour shape and surface texture features of the contact object. Samuel et al [ 3 ] embedded the FBG in silicone to detect the pressure on the vertical surface and identified cracks greater than 0.3 mm through 3D mapping of fatigue cracks.…”

Section: Introductionmentioning

confidence: 99%

Research on Finger Pressure Tactile Sensor with Square Hole Structure Based on Fiber Bragg Grating

Guan

Zhu

et al. 2023

Sensors

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Aiming at the problems of lateral force interference and non-uniform strain of robot fingers in the process of pressure tactile sensing, a flexible tactile sensor with a square hole structure based on fiber Bragg grating (FBG) is proposed in this paper. Firstly, the optimal embedding depth of the FBG in the sensor matrix model was determined by finite element simulation. Secondly, according to the size of the finger knuckle and the simulation analysis based on the pressure tactile sensor element for the robot finger, the square hole structure was designed, and the overall dimensions of the sensing element and size of the square hole were determined. Thirdly, the FBG was embedded in the polydimethylsiloxane (PDMS) elastic matrix to make a sensor model, and the tactile sensor was fabricated. Finally, the FBG pressure tactile sensing system platform was built by using optical fiber sensing technology, and the experiment of the FBG tactile sensor was completed through the sensing system platform. Experimental results show that the tactile sensor designed in this paper has good repeatability and creep resistance. The sensitivity is 8.85 pm/N, and the resolution is 0.2 N. The loading sensitivity based on the robot finger is 27.3 pm/N, the goodness of fit is 0.996, and the average value of interference in the sensing process is 7.63%, which is lower than the solid structure sensor. These results verify that the sensor can effectively reduce the lateral force interference and solve the problem of non-uniform strain and has high fit with fingers, which has a certain application value for the research of robot pressure tactile intelligent perception.

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“…The sensor can obtain water flow information underwater, recognize the contour of circular and linear objects and measure the size of objects on land [18]. Zhao et al designed a flexible whisker array based on fiber Bragg grating (FBG) to measure the object contact distance and recognition the object shape according to the wavelength shift of FBG [19,20]. Wei et al designed a microelectro-mechanical system based biomimetic whisker sensor and explored the range of functions that whisker arrays could serve, and it was shown that the sensor could measure the contact distance of objects and recognize the contour and texture of objects [12].…”

Section: Introductionmentioning

confidence: 99%

Contour recognition method of Hall-effect-based whisker sensor

Zeng¹,

Zhang²,

Xie³

et al. 2022

Meas. Sci. Technol.

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This paper introduces a novel Hall-effect-based whisker sensor and proposes a contour recognition algorithm for distinguishing and recognizing objects. The mechanical arm drives the sensor to move according to the contour recognition algorithm in the experiments, and the object contour is distinguished and recognized by processing the detected spatial magnetic field data. The results of identifying the measured object with harder carbon fiber and softer ABS whiskers were compared and analyzed, and a new design was proposed based on the advantages of soft and hard materials. The newly designed whisker with glass fiber and stainless steel rod nested reduced the contour recognition error to 4.1%. The experimental results showed that the sensor could distinguish the contour of the straight line and circular objects, and the glass fiber and stainless steel rod nested sensor had a better recognition effect.

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Fiber Bragg grating-based biomimetic whisker for shape and texture recognition

Cited by 6 publications

References 12 publications

Bioinspired Whisker Sensor for 3D Mapping of Underground Mining Environments

Bioinspired Whisker Sensor for 3D Mapping of Underground Mining Environments

Research on Finger Pressure Tactile Sensor with Square Hole Structure Based on Fiber Bragg Grating

Contour recognition method of Hall-effect-based whisker sensor

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