Antenna-Shaped Biomimetic Tactile Sensor Using Elastomers and Conductive Liquid

The antenna of an insect has inspired researchers to develop various types of antenna-mimicking tactile sensors. We suggest a conductive liquid-based biomimetic tactile covered with elastomers, focusing on imitating its anatomical features. The polyethylene glycol (PEG) and silver nitrate composite proved its compatibility with elastomers and its reliability as a conductive material. The working mechanism of the sensor established from the conductive liquid and wires was investigated. A three-dimensional (3D) printer-driven fabrication process facilitated the applicability of the sensor to an integrated biomimetic robot for military purposes. Wall scanning tests using multiple sensors and walls with various geographical features showed a linear relationship between bending angles and resistance with out-standing coefficients of determination up to 0.9889. Especially, wall scanning experiments at a fixed distance led to their geographical reconstruction with high accuracy. Our antenna-shaped tactile sensor was made with alternative elements, a simple fabrication process, and an alternative working mechanism. It also demonstrated high repeatability on the basis of bending angles and showed the possibility to be used for 3D image reconstruction.