Underwater Biomimetic Whisker Sensor Based on Liquid Metal and Triboelectric Nanogenerator

To enhance the maneuverability and adaptability of underwater robots, it is essential to improve their perception of the surrounding environment. Inspired by the hair follicle structure of animal whiskers, this paper proposed a liquid metal-based triboelectric whisker sensor(LTWS) by combining liquid metal with triboelectric nanogenerators. This sensor served as a supplement to optical and acoustic perception technologies for underwater robots in turbid water with low visibility, enhancing the robots’ information perception capabilities. The LTWS mainly consisted of carbon fiber whiskers, silicone sheaths, triggers, memory alloy springs, sensing units, and a base. The subtle deflection of the carbon fiber whiskers drove the trigger to approach and squeeze the sensing unit in the corresponding direction, thereby generating an electric signal. The sensing signal of LTWS had a linear relationship with the lateral displacement of the whiskers, and the sensitivity could reach 7.9 mV/mm. The touch frequency had a small impact on the output signal. LTWS enriched the perception methods of underwater robots, providing a new approach to marine information perception.