Accession Number:

AD1099893

Title:

Capacitive Bio-Inspired Flow Sensing Cupula

Personal Author(s):

Corporate Author:

NAVAL RESEARCH LAB WASHINGTON DC WASHINGTON United States

Report Date:

2019-06-11

Abstract:

Submersible robotics have improved in efficiency and versatility by incorporating features found in aquatic life, ranging from thunniform kinematics to shark skin textures. To fully realize these benefits, sensor systems must be incorporated to aid in object detection and navigation through complex flows. Again, inspiration can be taken from biology, drawing on the lateral line sensor systems and neuromast structures found on fish. To maintain a truly soft-bodied robot, a man-made flow sensor must be developed that is entirely complaint, introducing no rigidity to the artificial skin. We present a capacitive cupula inspired by superficial neuromasts. Fabricated via lost wax methods and vacuum injection, our 5 mm tall device exhibits a sensitivity of 0.5 pFmm capacitance versus tip deflection and consists of room temperature liquid metal plates embedded in a soft silicone body. In contrast to existing capacitive examples, our sensor incorporates the transducers into the cupula itself rather than at its base. We present a kinematic theory and energy-based approach to approximate capacitance versus flow, resulting in equations that are verified with a combination of experiments and COMSOL simulations.

Descriptive Note:

Journal Article - Open Access

Supplementary Note:

Sensors , 19, 11, 01 Jan 0001, 01 Jan 0001,

Pages:

0025

Descriptors:

Identifiers:

Subject Categories:

Communities Of Interest:

Modernization Areas:

Distribution Statement:

Approved For Public Release;

File Size:

8.80MB

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