MEMS artificial neuromast arrays for hydrodynamic control of soft-robots

Ajay Giri Prakash Kottapalli, Mohsen Asadnia, Zhiyuan Shen, Vignesh Subramaniam, Jianmin Miao, Michael Triantafyllou

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contribution

2 Citations (Scopus)

Abstract

In this work, we present the development and experimental testing of two types of bio-inspired MEMS sensors - piezoresistive all-polymer sensors that perform steady-state flow sensing analogous to the superficial neuromasts (SNs), and piezoelectric pressure sensors which perform hydrodynamic oscillatory flow sensing similar to the canal neuromasts (CNs). Real-time underwater sensing applications of these sensors in performing hydrodynamic flow sensing to achieve improved control of soft robots is demonstrated. Experiments conducted on lab-version of a robotic stingray and a robotic fishtail validate the arrays' ability in accurately detecting the propagation velocity and flapping hydrodynamics of the robots. Experiments conducted on a kayak show that the sensors detect vortex-shedding signatures that could provide cues towards achieving energy-efficient maneuvers.

Original languageEnglish
Title of host publication2016 IEEE 11th Annual International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2016
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages504-507
Number of pages4
ISBN (Electronic)9781509019472
DOIs
Publication statusPublished - 28 Nov 2016
Externally publishedYes
Event11th IEEE Annual International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2016 - Sendai, Japan
Duration: 17 Apr 201620 Apr 2016

Other

Other11th IEEE Annual International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2016
CountryJapan
CitySendai
Period17/04/1620/04/16

Keywords

  • flow sensing
  • MEMS
  • pressure sensing
  • soft robot
  • underwater sensing

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  • Cite this

    Kottapalli, A. G. P., Asadnia, M., Shen, Z., Subramaniam, V., Miao, J., & Triantafyllou, M. (2016). MEMS artificial neuromast arrays for hydrodynamic control of soft-robots. In 2016 IEEE 11th Annual International Conference on Nano/Micro Engineered and Molecular Systems, NEMS 2016 (pp. 504-507). [7758300] Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/NEMS.2016.7758300