Table 1 Comparison of representative whisker array sensors with the present study

Reference	Sensing principle	Whisker configuration	Whisker number	Direction resolution	Stimulus discrimination	Actuation principle	Manipulation capability
Zarei et al.¹¹	Capacitive	Leaf skeleton with MWCNT and AgNW, 10 mm long	2	Combined whiskers	Yes	No	No
Nakamura et al.²⁸	Electrical contact resistance	Nylon strings, about 2 cm long	About 300–400	Combined whiskers	Yes	No	No
Liu et al.¹³	Triboelectric nanogenerator	Carbon fiber, 40 mm long	4	Combined whiskers	Yes	No	No
Xiao and Wachs³⁹	Barometer	Stainless spring wire, 120 mm long	3	Combined whiskers	No	Servo motor	No
Hou et al.²⁰	Triboelectric nanogenerator	Plastic optical fibers, 30–50 mm long	3	Individual whiskers	No	No	No
Xiao et al.²⁴	Barometer	Plastic filament, 70 mm long	5	Combined whiskers	No	Servo motor	No
Zhou et al.¹⁵	Magnetic induction, triboelectric sensing	Magnetized PDMS/NdFeB composite, about 800 μm long	400	Combined whiskers	No	No	No
Kent et al.³³	Vision-based tactile	Carbon fiber rods, 100 mm long	6	Individual whiskers	Yes	No	No
Deer and Pounds²²	Barometer	ABS fibers, 50 mm long	4	Individual whiskers	Yes	No	No
Reeder et al.⁴²	Strain gauges	Shape memory polymer, 2 mm long	9	Combined whiskers	Yes	Shape memory effect	No
Lepora et al.³⁴	Vision-based tactile	3D-printed polymer, 40 mm long	10	Individual whiskers	No	Tendon-driven	No
Assaf et al.³²	Hall effect sensors	3D-printed polymer, 110 mm long	20	Individual whiskers	Yes	Dielectric electroactive polymer	No
Our work	Vision-based tactile	Carbon fiber rods, 105 mm long	8	Individual whiskers	Yes	Magnetic actuation	Yes

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