Bibliographic citations
Eckhardt, S., (2020). Contribution to artificial tactile sensors for object contour recognition using coupled technical vibrissae [Tesis, Pontificia Universidad Católica del Perú]. http://hdl.handle.net/20.500.12404/17141
Eckhardt, S., Contribution to artificial tactile sensors for object contour recognition using coupled technical vibrissae [Tesis]. PE: Pontificia Universidad Católica del Perú; 2020. http://hdl.handle.net/20.500.12404/17141
@mastersthesis{renati/15556,
title = "Contribution to artificial tactile sensors for object contour recognition using coupled technical vibrissae",
author = "Eckhardt, Stefan",
publisher = "Pontificia Universidad Católica del Perú",
year = "2020"
}
Some mammals exhibit special tactile hairs (vibrissae) for tactile exploration of their environment. This complex sensory organ enables, e.g., rats to detect distances and orientations of objects as well as their contours and surface textures. Vibrissae are located in groups at various parts of the animal’s body, e.g., in the snout region or at the extremities. In litera- ture, most mechanical vibrissa models are limited to the consideration of a single vibrissa, usually modelled as a clamped bending beam. The present work contributes to the inves- tigation of more realistic vibrissae systems, which are elastically coupled. The focus is on object contour scanning and a theoretical generation of the support reactions of each vibris- sa. In doing so, a mutual influence of the vibrissae is taken into account. Firstly, a single vibrissa is modeled as a long, slender, cylindrically shaped beam, whose deformations are described using nonlinear Euler-Bernoulli theory. The model is extended in different levels of abstraction. First, the model is adapted for an elastic support. Secondly, it is extended by a further vibrissa. The coupling of the vibrissae is realized by different structures of springs. For object scanning, the vibrissae model is swept along a strictly convex object profile con- tour quasi-statically and translationally. During the scanning process, a distinction is made between tip and tangential contacts. In addition, different scenarios are derived, respecting which and how many of the vibrissae are in contact with the object simultaneously. Based on this classification, the base positions of all vibrissae are determined during scanning. The mechanical model serves as a basis for parameter studies, which clarify the influence of the elasticities as well as the object distance on the support reactions of each individual vibrissa. The results shows that, in contrast to the object distance, a elastic support, which is aligned with the scanning direction has no influence on the maximum values of the support reactions. Due to the elastic coupling, the snap-off of one vibrissa from the object, can be detected in the support reactions of both coupled vibrissae.
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