A biologically inspired multimodal whisker follicle

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Title: A biologically inspired multimodal whisker follicle
Authors: Wegiriya, H
Sornkarn, N
Bedford, H
Nanayakkara, T
Item Type: Conference Paper
Abstract: Mammalian whisker follicle contains multiple sensory receptors strategically organized to capture tactile sensory stimuli of different frequencies via the vibrissal system. There have been a number of attempts to develop robotic whiskers to perform texture classification tasks in the recent past. Inspired by the features of biological whisker follicle, in this paper we design and use a novel soft whisker follicle comprising of two different frequency-dependent data capturing modules to derive deeper insights into the biological basis of tactile perception in the mammalian whisker follicle. In our design, the innervations at the Outer Conical Body (OCB) of a biological follicle are realized by a piezoelectric transducer for capturing high frequency components; whereas the innervations around the hair Papilla are represented by a hall sensor to capture low frequency components during the interaction with the environment. In this paper, we show how low dimensional information such as the principle components of co-variation of these two sensory modalities vary for different speeds and indentations of brushing the whisker against a surface. These new insights into the biological basis of tactile perception using whiskers provides new design guidelines to develop efficient robotic whiskers.
Issue Date: 9-Feb-2017
Date of Acceptance: 9-Oct-2016
URI: http://hdl.handle.net/10044/1/51074
DOI: https://dx.doi.org/10.1109/SMC.2016.7844834
ISBN: 9781509018970
Start Page: 3847
End Page: 3852
Journal / Book Title: Systems, Man, and Cybernetics (SMC), 2016 IEEE International Conference on
Copyright Statement: © 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, 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 component of this work in other works.
Conference Name: 2016 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2016 - Conference Proceedings
Publication Status: Published
Start Date: 2016-10-09
Finish Date: 2016-10-12
Conference Place: Budapest, Hungary
Appears in Collections:Faculty of Engineering
Dyson School of Design Engineering

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