Whisker-like sensors with soft resistive follicles

Perception of changes in the environment is essential for any robot to successfully navigate through its surroundings. Ongoing research on soft sensors is primarily directed to measuring strains. However, less work aims to provide position and navigation feedback. In this study, we present the design and fabrication of soft resistive sensors embedded into whisker follicles and the simple synthesis of a conductive composite by mixing 99% silver powder and a soft elastomer. Whisker follicles can be tuned to detect a specific frequency. These kind sensors are a simple, robust and straightforward method to detect changes in the environment. The performance is compared to bend sensors commercially available. Finally, a frequency detection experiment is presented to show the capabilities of the sensor.