Fig. 6: Grasping experiments using the whisker array sensor and image processing pipeline.
From: Vibrissae-inspired vision-based magnetic-actuated whisker
a–d Lightweight object grasping. a Setup. b Grasping a pom-pom using eight, four, and two whiskers. The actuated whiskers in the four- and two-whisker configurations are highlighted. c Six tested objects: paper flower, mini pinecone, popcorn, pom-pom, cotton, and mini bow (left to right). d Mean displacement of one whisker across successful trials. Shaded regions denote ±1 SD. Four phases are marked with orange dashed lines: (1) whisker actuation, (2) robot lift, (3) robot stop, and (4) whisker deactivation. e–g Crystal grasping. e Setup. f Example crystal cluster. g Successful grasp. h–j Snail pick-and-place. h Setup. i Close-up of a snail grasping. j Snail in the Petri dish 30s after the placement, with tentacles extended, showing intact survival. k–r Image processing pipeline for whisker tracking. k Raw image. l Preprocessing. m Mask of red region and detection of contour centers. n Zoomed-in view of the yellow box in panel (m). o Tracker centers (white dots) without external forces. p Zoomed-in view of the yellow box in panel (o). q Tracker displacements (yellow arrows) under external forces. r Zoomed-in view of the yellow box in panel (q).
