Abstract
Tactile perception is significant for robotic operation in unstructured environments. Whisker-based sensors offer lightweight bio-inspired solutions, yet most rely on single-whisker sensing and are limited by passive interaction and constrained functionality. Here we present a circular array of eight independently actuated whiskers, each driven by a pulse-switchable permanent magnet and tracked by a camera. This design enables simultaneous multi-point sensing and coordinated actuation, supporting diverse functions. Quantitative analyses demonstrate accurate pixel-to-physical mapping, consistent pixel-to-force characterization, and long-term repeatability. In this work, we show that an vibrissae-inspired vision-based magnetic-actuated whisker array integrating distributed perception with active interaction achieves reliable physical mapping, repeatable sensing, and delicate grasping, thereby advancing tactile sensing and laying the foundation for contact-driven exploration, soft manipulation, and adaptive behavior in dynamic environments.
Date of this Version
12-21-2025
Recommended Citation
Hu, Zhixian; Cheng, Yi; Wachs, Juan P.; and She, Yu, "Vibrissae-inspired vision-based magnetic-actuated whisker" (2025). School of Industrial Engineering Faculty Publications. Paper 27.
https://docs.lib.purdue.edu/iepubs/27
Comments
This is the publisher PDF of Hu, Z., Cheng, Y., Wachs, J. et al. Vibrissae-inspired vision-based magnetic-actuated whisker. Nat Commun 17, 939 (2026). Published CC-BY-NC-ND, the version of record is also available at DOI: 10.1038/s41467-025-67672-x.