Abstract
Natural vibrissae fulfill a lot of functions. Next to object distance detection and object shape recognition, the surface texture can be determined. Inspired by the natural process of surface texture detection, the goal is to adapt this feature by technical concepts. Modeling the vibrissa as an Euler–Bernoulli bending beam with a quasi-statically moving support and the vibrissa–surface contact with respect to Coulomb’s Law of Friction, a first approach was formed by the group of Behn and Steigenberger. Due to the motion of the support (pushing the vibrissa) and the surface contact, the vibrissa gets deformed. Firstly, the beam tip is sticking to the surface. The acting friction force prevents a movement of the beam tip until the maximal stiction is reached. The displacement of the support corresponds to changes in the acting forces and moments. Out of these changes the coefficient of static friction can be determined. The analytical results of Steigenberger and Behn are verified and validated by numerical simulations and an experiment.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Arabzadeh E, Zorzin E, Diamond ME (2005) Neuronal encoding of texture in the whisker sensory pathway. PLoS Biol 3(1):1–11
Carl K, Hild W, Mämpel J, Schilling C, Uhlig R, Witte H (2011) Characterization of statical properties of rat’s whisker system. IEEE Sens J 12(2):340–349
Carvell GE, Simons DJ (1990) Biometric analyses of vibrissal tactile discrimination in the rat. J Neurosci 10(8):2638–2648
Grant R, Mitchinson B, Fox C, Prescott T (2009) Active touch sensing in the rat: anticipatory and regulatory control of whisker movements during surface exploration. J Neurophysiol 101(2):862–874
Helbig T, Voges D, Niederschuh S, Schmidt M, Witte H (2014) Characterizing the substrate contact of carpal vibrissae of rats during locomotion. In: Proceedings of the 3th international conference, living machines, Milan, Italy, 30 July–1 Aug 2014, 3 pages
Hipp JE, Arabzadeh E, Zorzin E, Conradt J, Kayser C, Diamond ME, König P (2006) Texture signals in whisker vibrations. J Neurophysiol 95(3):1792–1799
Mitchinson B, Martin C, Grant R, Prescott T (2007) Feedback control in active sensing: rat exploratory whisking is modulated by environmental contact. Proc R Soc B 274:1035–1041
Moore C, Andermann M (2005) The vibrissa resonance hypothesis. In: Somatosensory plasticity. CRC Press, Boca Raton, pp 21–60
Steigenberger J, Behn C, Will C (2015) Mathematical model of vibrissae for surface texture detection. Preprint No. M 13/03. Technische Universität Ilmenau. 16 pages
Voges D, Carl K, Klauer G, Uhlig R, Schilling C, Behn C, Witte H (2012) Structural characterization of the whisker system. IEEE Sens J 12(2):332–339
Wolfe J, Hill DN, Pahlavan S, Drew PJ, Kleinfeld D, Feldman DE (2008) Texture coding in the rat whisker system: slip-stick versus differential resonance. PLoS Biol 6(8):1–17
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing Switzerland
About this paper
Cite this paper
Scharff, M., Darnieder, M., Steigenberger, J., Behn, C. (2017). Towards the Development of Tactile Sensors for Determination of Static Friction Coefficient to Surfaces. In: Zentner, L., Corves, B., Jensen, B., Lovasz, EC. (eds) Microactuators and Micromechanisms. Mechanisms and Machine Science, vol 45. Springer, Cham. https://doi.org/10.1007/978-3-319-45387-3_4
Download citation
DOI: https://doi.org/10.1007/978-3-319-45387-3_4
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-45386-6
Online ISBN: 978-3-319-45387-3
eBook Packages: EngineeringEngineering (R0)