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

  • Chiara Lucarotti
  • Massimo Totaro
  • Lucie Viry
  • Lucia Beccai
  • Barbara Mazzolai
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8608)

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 

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References

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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

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