WormTIP: An invertebrate inspired active tactile imaging pneumostat

Andrew D. Hinitt; Jonathan Rossiter; Andrew T. Conn

doi:10.1007/978-3-319-22979-9 4

WormTIP: An invertebrate inspired active tactile imaging pneumostat

Andrew D. Hinitt^*, Jonathan Rossiter, Andrew T. Conn

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

10 Citations (Scopus)

Abstract

WormTIP is a novel lightweight self-actuating exploratory sensor, using a pneumostatic vessel and a dielectric elastomeric actuator (DEA) to create an active sensory tip capable of object shape determination as part of a flexible soft robot. Utilising the coupling of a static fluid vessel, the DEA is paired with a sensory membrane with internal papillae mimicking the internal morphology found in the fingertip. The sensory membrane is extended onto an object, conforming to its surface. Experimental results are presented which show the detection of shapes using particle velocimetry and papillae density analysis. These are preliminary results which show the potential of the WormTIP, which is the focus of ongoing work. The device is aimed for use as a self-contained palpating sensor, or as an attachment to a bio-inspired robotic worm forming a self-contained exploratory vehicle with the device acting as the sensory appendage or proboscis.

Original language	English
Title of host publication	Proceedings of 4th International Conference on Biomimetic and Biohybrid Systems
Subtitle of host publication	Living Machines 2015
Editors	Paul F.M.J. Verschure, Stuart P. Wilson, Tony J. Prescott, Anna Mura
Publisher	Springer Verlag
Pages	38-49
Number of pages	12
Volume	9222
ISBN (Electronic)	978-3-319-22979-9
ISBN (Print)	978-3-319-22978-2
DOIs	https://doi.org/10.1007/978-3-319-22979-9 4 https://doi.org/10.1007/978-3-319-22979-9_4
Publication status	Published - 28 Jul 2015
Event	4th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2015 - Barcelona, Spain Duration: 28 Jul 2015 → 31 Jul 2015

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	9222
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	4th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2015
Country/Territory	Spain
City	Barcelona
Period	28/07/15 → 31/07/15

Research Groups and Themes

Tactile Action Perception
Engineering Mathematics Research Group

Keywords

DEA
EAP
Exploratory
Proboscis
Tactile sensing
TACTIP
WormTIP

Access to Document

Handle.net

Persistent link

Cite this

Hinitt, A. D., Rossiter, J., & Conn, A. T. (2015). WormTIP: An invertebrate inspired active tactile imaging pneumostat. In P. F. M. J. Verschure, S. P. Wilson, T. J. Prescott, & A. Mura (Eds.), Proceedings of 4th International Conference on Biomimetic and Biohybrid Systems: Living Machines 2015 (Vol. 9222, pp. 38-49). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9222). Springer Verlag. https://doi.org/10.1007/978-3-319-22979-9 4, https://doi.org/10.1007/978-3-319-22979-9_4

Hinitt, Andrew D. ; Rossiter, Jonathan ; Conn, Andrew T. / WormTIP : An invertebrate inspired active tactile imaging pneumostat. Proceedings of 4th International Conference on Biomimetic and Biohybrid Systems: Living Machines 2015. editor / Paul F.M.J. Verschure ; Stuart P. Wilson ; Tony J. Prescott ; Anna Mura. Vol. 9222 Springer Verlag, 2015. pp. 38-49 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "WormTIP is a novel lightweight self-actuating exploratory sensor, using a pneumostatic vessel and a dielectric elastomeric actuator (DEA) to create an active sensory tip capable of object shape determination as part of a flexible soft robot. Utilising the coupling of a static fluid vessel, the DEA is paired with a sensory membrane with internal papillae mimicking the internal morphology found in the fingertip. The sensory membrane is extended onto an object, conforming to its surface. Experimental results are presented which show the detection of shapes using particle velocimetry and papillae density analysis. These are preliminary results which show the potential of the WormTIP, which is the focus of ongoing work. The device is aimed for use as a self-contained palpating sensor, or as an attachment to a bio-inspired robotic worm forming a self-contained exploratory vehicle with the device acting as the sensory appendage or proboscis.",

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author = "Hinitt, {Andrew D.} and Jonathan Rossiter and Conn, {Andrew T.}",

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Hinitt, AD , Rossiter, J & Conn, AT 2015, WormTIP: An invertebrate inspired active tactile imaging pneumostat. in PFMJ Verschure, SP Wilson, TJ Prescott & A Mura (eds), Proceedings of 4th International Conference on Biomimetic and Biohybrid Systems: Living Machines 2015. vol. 9222, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 9222, Springer Verlag, pp. 38-49, 4th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2015, Barcelona, Spain, 28/07/15. https://doi.org/10.1007/978-3-319-22979-9 4, https://doi.org/10.1007/978-3-319-22979-9_4

WormTIP: An invertebrate inspired active tactile imaging pneumostat. / Hinitt, Andrew D.; Rossiter, Jonathan ; Conn, Andrew T.
Proceedings of 4th International Conference on Biomimetic and Biohybrid Systems: Living Machines 2015. ed. / Paul F.M.J. Verschure; Stuart P. Wilson; Tony J. Prescott; Anna Mura. Vol. 9222 Springer Verlag, 2015. p. 38-49 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9222).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - WormTIP

T2 - 4th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2015

AU - Hinitt, Andrew D.

AU - Rossiter, Jonathan

AU - Conn, Andrew T.

PY - 2015/7/28

Y1 - 2015/7/28

N2 - WormTIP is a novel lightweight self-actuating exploratory sensor, using a pneumostatic vessel and a dielectric elastomeric actuator (DEA) to create an active sensory tip capable of object shape determination as part of a flexible soft robot. Utilising the coupling of a static fluid vessel, the DEA is paired with a sensory membrane with internal papillae mimicking the internal morphology found in the fingertip. The sensory membrane is extended onto an object, conforming to its surface. Experimental results are presented which show the detection of shapes using particle velocimetry and papillae density analysis. These are preliminary results which show the potential of the WormTIP, which is the focus of ongoing work. The device is aimed for use as a self-contained palpating sensor, or as an attachment to a bio-inspired robotic worm forming a self-contained exploratory vehicle with the device acting as the sensory appendage or proboscis.

AB - WormTIP is a novel lightweight self-actuating exploratory sensor, using a pneumostatic vessel and a dielectric elastomeric actuator (DEA) to create an active sensory tip capable of object shape determination as part of a flexible soft robot. Utilising the coupling of a static fluid vessel, the DEA is paired with a sensory membrane with internal papillae mimicking the internal morphology found in the fingertip. The sensory membrane is extended onto an object, conforming to its surface. Experimental results are presented which show the detection of shapes using particle velocimetry and papillae density analysis. These are preliminary results which show the potential of the WormTIP, which is the focus of ongoing work. The device is aimed for use as a self-contained palpating sensor, or as an attachment to a bio-inspired robotic worm forming a self-contained exploratory vehicle with the device acting as the sensory appendage or proboscis.

KW - DEA

KW - EAP

KW - Exploratory

KW - Proboscis

KW - Tactile sensing

KW - TACTIP

KW - WormTIP

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U2 - 10.1007/978-3-319-22979-9 4

DO - 10.1007/978-3-319-22979-9 4

M3 - Conference Contribution (Conference Proceeding)

AN - SCOPUS:84947057214

SN - 978-3-319-22978-2

VL - 9222

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 38

EP - 49

BT - Proceedings of 4th International Conference on Biomimetic and Biohybrid Systems

A2 - Verschure, Paul F.M.J.

A2 - Wilson, Stuart P.

A2 - Prescott, Tony J.

A2 - Mura, Anna

PB - Springer Verlag

Y2 - 28 July 2015 through 31 July 2015

ER -

Hinitt AD , Rossiter J , Conn AT. WormTIP: An invertebrate inspired active tactile imaging pneumostat. In Verschure PFMJ, Wilson SP, Prescott TJ, Mura A, editors, Proceedings of 4th International Conference on Biomimetic and Biohybrid Systems: Living Machines 2015. Vol. 9222. Springer Verlag. 2015. p. 38-49. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-22979-9 4, 10.1007/978-3-319-22979-9_4

WormTIP: An invertebrate inspired active tactile imaging pneumostat

Abstract

Publication series

Conference

Research Groups and Themes

Keywords

Access to Document

Handle.net

Other files and links

Fingerprint

Integration and Coupling of High Performance Dielectric Elastomer Actuator Systems

Cite this

WormTIP: An invertebrate inspired active tactile imaging pneumostat

Abstract

Publication series

Conference

Research Groups and Themes

Keywords

Access to Document

Handle.net

Other files and links

Fingerprint

Student theses

Integration and Coupling of High Performance Dielectric Elastomer Actuator Systems

Cite this