Conference on Biomimetic and Biohybrid Systems

Living Machines 2014: Biomimetic and Biohybrid Systems pp 408-410

Soil Mechanical Impedance Discrimination by a Soft Tactile Sensor for a Bioinspired Robotic Root

  • Chiara Lucarotti
  • Massimo Totaro
  • Lucie Viry
  • Lucia Beccai
  • Barbara Mazzolai
Conference paper

DOI: 10.1007/978-3-319-09435-9_45

Volume 8608 of the book series Lecture Notes in Computer Science (LNCS)
Cite this paper as:
Lucarotti C., Totaro M., Viry L., Beccai L., Mazzolai B. (2014) Soil Mechanical Impedance Discrimination by a Soft Tactile Sensor for a Bioinspired Robotic Root. In: Duff A., Lepora N.F., Mura A., Prescott T.J., Verschure P.F.M.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2014. Lecture Notes in Computer Science, vol 8608. Springer, Cham

Abstract

During the penetration into the soil, plant roots experience mechanical impedance changes and come into contact with obstacles which they avoid and circumnavigate during their growth. In this work, we present an experimental analysis of a sensorized artificial tip able to detect obstacles and discriminate between different mechanical impedances in artificial and real soils. The conical shaped tip is equipped with a soft capacitive tactile sensor consisting of different elastomeric and conductive layers. Experimental results show that the sensor is robust yet sensitive enough to mechanical impedance changes in the experimented soils.

Keywords

Soft tactile sensor sensorized tip plant root soil impedance 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Chiara Lucarotti
    • 1
    • 2
  • Massimo Totaro
    • 1
  • Lucie Viry
    • 1
  • Lucia Beccai
    • 1
  • Barbara Mazzolai
    • 1
  1. 1.Istituto Italiano di TecnologiaCenter for Micro-BioRoboticsPontederaItaly
  2. 2.The BioRobotics InstituteScuola Superiore Sant’AnnaPontederaItaly