TuneNav: Tunable Whisker Array for Touch-based Navigation in Confined Spaces

In scenarios such as rescue missions and construction sites, robots often face mobility challenges due to cramped spaces. These confined environments hinder navigation, especially for robots using commercial off-the-shelf (COTS) sensors that struggle with limited detection range. Animals, by contrast, use whiskers for tactile sensing, enabling precise movement even in low-light conditions. Similarly, whisker arrays provide robots with the ability to detect objects during Mass Casualty Incidents (MCI). However, existing whisker array sensors lack tunability, leading to suboptimal performance in different environments. Our proposed solution introduces a novel whisker array sensor with telescoping whiskers for reaching tight spaces, foldability for compact areas, varying stiffness for sensing diverse surfaces, and adjustable density for focused tactile sensing. A mathematical comparison against COTS sensors, focusing on accuracy and range, demonstrates the clear advantages of our design.