Flexible electronic brush: Real-time multimodal sensing powered by reservoir computing through whisker dynamics

IF 12.5 1区综合性期刊 Q1 MULTIDISCIPLINARY SCIENCES

Science Advances Pub Date : 2025-01-29 DOI:10.1126/sciadv.ads4388

Haruki Nakamura, Satoko Honda, Guren Matsumura, Seiji Wakabayashi, Koh Uehara, Kohei Nakajima, Kuniharu Takei

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引用次数: 0

Abstract

Multimodal sensing using soft body dynamics plays a crucial role in controlling soft robotic motions. An intriguing application of such soft robot control is to mimic whiskers and digitize soft body motion through whisker dynamics. The challenge herein is to simultaneously monitor the directions, speed, force, and slip information of the whisker motion. The existing whisker-like sensors cannot detect slip information effectively. To address this challenge, this study develops a multitasking electronic brush (e-brush) composed of bundle of whiskers powered by reservoir computing (RC). Four pressure sensors are integrated into the brush to monitor its motion, speed, force, slip, and target surface. These sensors can provide long-term, low-pressure detection as low as 50 pascals, allowing for the precise monitoring of brush movements. A RC algorithm is developed to extract multiple brush motion parameters, including the slip. As a proof of concept for multitasking e-brush, the motion trajectory of handwriting is successfully detected.

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柔性电子电刷：实时多模态传感，通过晶须动力学计算油藏。

基于软体动力学的多模态传感技术在软体机器人运动控制中起着至关重要的作用。这种软机器人控制的一个有趣的应用是模拟须，并通过须动力学将软体运动数字化。这里的挑战是同时监控晶须运动的方向、速度、力和滑移信息。现有的须状传感器不能有效地检测滑移信息。为了解决这一挑战，本研究开发了一种多任务电子刷（e-brush），该刷由储层计算（RC）驱动的络腮胡束组成。四个压力传感器集成到刷子中，以监测其运动，速度，力，滑移和目标表面。这些传感器可以提供低至50帕斯卡的长期低压检测，从而可以精确监测刷子的运动。开发了一种RC算法来提取包括滑移在内的多个电刷运动参数。作为多任务电子笔的概念验证，成功地检测了手写的运动轨迹。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Science Advances 综合性期刊-综合性期刊

CiteScore

21.40

自引率

1.50%

发文量

1937

审稿时长

29 weeks

期刊介绍： Science Advances, an open-access journal by AAAS, publishes impactful research in diverse scientific areas. It aims for fair, fast, and expert peer review, providing freely accessible research to readers. Led by distinguished scientists, the journal supports AAAS's mission by extending Science magazine's capacity to identify and promote significant advances. Evolving digital publishing technologies play a crucial role in advancing AAAS's global mission for science communication and benefitting humankind.