Imperial College London
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Professor Thrishantha Nanayakkara

Faculty of Engineering, Dyson School of Design Engineering

Professor in Robotics
 
 
 
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Contact

 

+44 (0)7902 396 681t.nanayakkara Website CV

 
 
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Location

 

RCS 1M07Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Wegiriya:2020:10.1109/JSEN.2019.2951755,
author = {Wegiriya, H and Herzig, N and Guaman, SAA and Sadati, H and Nanayakkara, T},
doi = {10.1109/JSEN.2019.2951755},
journal = {IEEE Sensors Journal},
pages = {2320--2328},
title = {A stiffness controllable multimodal whisker sensor follicle for texture comparison},
url = {http://dx.doi.org/10.1109/JSEN.2019.2951755},
volume = {20},
year = {2020}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - Mammals like rats, who live in dark burrows, heav-ily  depend  on  tactile  perception  obtained  through  the  vibrissalsystem  to  move  through  gaps  and  to  discriminate  textures.  Theorganization  of  a  mammalian  whisker  follicle  contains  multiplesensory  receptors  and  glands  strategically  organized  to  capturetactile sensory stimuli of different frequencies. In this paper, weused  a  controllable  stiffness  soft  robotic  follicle  to  test  the  hy-pothesis that the multimodal sensory receptors together with thecontrollable stiffness tissues in the whisker follicle form a physicalstructure to maximize tactile information. In our design, the ringsinus  and  ringwulst  of  a  biological  follicle  are  represented  by  alinear  actuator  connected  to  a  stiffness  controllable  mechanismin-between  two  different  frequency-dependent  data  capturingmodules.  In  this  paper,  we  show  for  the  first  time  the  effectof the interplay between the stiffness and the speed of whiskingon  maximizing  a  difference  metric  for  texture  classification.
AU  - Wegiriya,H
AU  - Herzig,N
AU  - Guaman,SAA
AU  - Sadati,H
AU  - Nanayakkara,T
DO  - 10.1109/JSEN.2019.2951755
EP  - 2328
PY  - 2020///
SN  - 1530-437X
SP  - 2320
TI  - A stiffness controllable multimodal whisker sensor follicle for texture comparison
T2  - IEEE Sensors Journal
UR  - http://dx.doi.org/10.1109/JSEN.2019.2951755
UR  - https://ieeexplore.ieee.org/document/8892550
UR  - http://hdl.handle.net/10044/1/74647
VL  - 20
ER  -
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