TY - JOUR
T1 - Separating Intrinsic and Extrinsic Responses of Whisker Sensors Using Accelerometer
AU - Routray, Prasanna K.
AU - Subudhi, Debadutta
AU - Sakcak, Basak
AU - Lavalle, Steven M.
AU - Pounds, Pauline
AU - Manivannan, M.
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - Rodents and Felidae whiskers are highly sensitive, detecting extrinsic inputs such as airflow or contact and intrinsic inputs such as base vibrations or self-induced motion. Building effective artificial whisker sensors faces a challenge due to the intricate coupling of responses at the whisker base. There is a research gap in understanding whisker sensors' responses to intrinsic and extrinsic inputs. To address this, we propose two methods, using base acceleration as a reference input: 1) employing frequency-domain adaptive filtering (FDAF) and 2) introducing the base vibration response model (BVRM) that mathematically represents the whisker sensor's behavior to base vibrations or self-induced motion. Validation of FDAF and BVRM is conducted through simulation and experimentation. The BVRM excels in both simulation and experiment, demonstrating a signal-to-noise ratio (SNR) of 35.20, slightly outperforming the laboriously tuned partitioned constrained FDAF with an SNR of 34.96, despite FDAFs slower convergence and poorer performance in experiments. In addition, BVRM can be useful in filtering sensor responses for independent use cases, such as terrain identification, flow sensing, and surface profile identification. By separating responses to extrinsic and intrinsic inputs without discarding either, whisker sensors become more versatile and multipurpose.
AB - Rodents and Felidae whiskers are highly sensitive, detecting extrinsic inputs such as airflow or contact and intrinsic inputs such as base vibrations or self-induced motion. Building effective artificial whisker sensors faces a challenge due to the intricate coupling of responses at the whisker base. There is a research gap in understanding whisker sensors' responses to intrinsic and extrinsic inputs. To address this, we propose two methods, using base acceleration as a reference input: 1) employing frequency-domain adaptive filtering (FDAF) and 2) introducing the base vibration response model (BVRM) that mathematically represents the whisker sensor's behavior to base vibrations or self-induced motion. Validation of FDAF and BVRM is conducted through simulation and experimentation. The BVRM excels in both simulation and experiment, demonstrating a signal-to-noise ratio (SNR) of 35.20, slightly outperforming the laboriously tuned partitioned constrained FDAF with an SNR of 34.96, despite FDAFs slower convergence and poorer performance in experiments. In addition, BVRM can be useful in filtering sensor responses for independent use cases, such as terrain identification, flow sensing, and surface profile identification. By separating responses to extrinsic and intrinsic inputs without discarding either, whisker sensors become more versatile and multipurpose.
KW - Fluid flow sensing
KW - system identification
KW - tactile sensing
KW - vibration isolation
KW - whisker sensor
UR - http://www.scopus.com/inward/record.url?scp=85204429400&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85204429400&partnerID=8YFLogxK
U2 - 10.1109/JSEN.2024.3452206
DO - 10.1109/JSEN.2024.3452206
M3 - Article
AN - SCOPUS:85204429400
SN - 1530-437X
VL - 24
SP - 34635
EP - 34644
JO - IEEE Sensors Journal
JF - IEEE Sensors Journal
IS - 21
ER -