Mechanics of Morphological Compensation, and its Application to Sensing and Control of Soft Robots

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In the second year, overall, proposed research topics were accelerated with fruitful achievement:1) Ho group has extensively elaborated the morphological compensation strategy for a soft whisker sensor upon being trimmed partly on other task, such as tactile exploration. We demonstrate that changing the morphology of the whisker again helps to reduce mismatching between prior knowledge in the frequency/time domain of the sensory signal. This allows the sensory whisker to recover the tactile perception on texture discrimination after the whisker is partially damaged. In addition, several interactive models on SOFA platforms have been built toward construction of topological change-allowed program, such as cutting/trimming.2) Shibuya and Ho have investigated design feasibility of several soft tactile sensing systems that can change their morphology, especially the magnetorheological (MR) fluid-based soft interfaces with efficient setup. Such systems are suitable for further investigation of morphological compensation.3) Miyako and Ho succeeded in implementation novel actuation for Materially Engineered Flying Object (MEFO)system using corona-discharge phenomenon, which ignites movement of bio- materials in the air.4) Takamura and Ho succeeded on fabrication of patterned structures that morphologically changeable that enhances the tribological properties of soft structures under walking process.