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A Star-Nose-Inspired Bionic Soft Robot for Nonvisual Spatial Detection and Reconstruction
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DOI：10.1002/aisy.202400601.png)
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Abstract
En 中文
The star-nosed mole is recognized as a tactilely sensitive mammal due to its unique nose, which facilitates spatial detection in dark environments through touch using its appendages enveloped in numerous sensory receptors. This article introduces a bionic soft robot inspired by the star-nosed mole, which combines a pneumatic soft platform with a polydimethylsiloxane-polyethylene terephthalate cylindrical tactile sensor array based on bilayer single-electrode triboelectric nanogenerators, mimicking the muscle tissue of the mole's nose and the cylindrical appendages surrounded by Eimer's organs. The cylindrical sensor array enables multiangle spatial detection without an external power supply and remains unaffected by external materials. By implementing a constant curvature model for robot motion control, positional information is provided for the contact points between the cylindrical sensor array and the external environment. The robot effectively discriminates the distance and shape of various objects and achieves nonvisual 3D spatial detection and reconstruction in real-world scenarios. This work presents a novel bionic approach for 3D spatial detection in nonvisual environments.
Keywords:
bionic robots
environmental detection
flexible sensor arrays
pneumatic actuators
triboelectric nanogenerators
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6.1
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2.0K
Citations:
8.4K