MEMS artificial neuromast arrays for hydrodynamic control of soft-robots

摘要

In this work, we present the development and experimental testing of two types of bio-inspired MEMS sensors - piezoresistive all-polymer sensors that perform steady-state flow sensing analogous to the superficial neuromasts (SNs), and piezoelectric pressure sensors which perform hydrodynamic oscillatory flow sensing similar to the canal neuromasts (CNs). Real-time underwater sensing applications of these sensors in performing hydrodynamic flow sensing to achieve improved control of soft robots is demonstrated. Experiments conducted on lab-version of a robotic stingray and a robotic fishtail validate the arrays' ability in accurately detecting the propagation velocity and flapping hydrodynamics of the robots. Experiments conducted on a kayak show that the sensors detect vortex-shedding signatures that could provide cues towards achieving energy-efficient maneuvers.