Advanced Dual-Mode Optical Whisker Sensor for Enhancing Robot Perception

Whisker sensors play a significant role in the navigation of robots in dark environments. However, contemporary whisker sensors suffer from impractical sizes, underdeveloped space detection capabilities and robustness, hindering their integration into robotic systems. To overcome these issues, we propose a compact optical bionic whisker (OWH) capable of perceiving external stimuli in both contact and noncontact modes. The whisker sensor achieves deflection and direction solely by calculating the variation in light intensity collected from symmetrically distributed photodiodes. Additionally, fine element analysis (FEA) is employed to optimize the sensitivity of the whisker sensor. Experimental validation involving contact and noncontact multidirectional wind test results demonstrated the promising performance of the OWH sensor, affirming its potential for integration into robot perception systems and providing improved adaptability and sensing capabilities across diverse environments.