aiqbench analysis
This research introduces active electrosense as a viable alternative to vision-based perception for underwater soft robotics, enabling pre-contact object detection in low-visibility environments. By measuring perturbations in an applied electric field using off-the-shelf hardware, the study demonstrates a lightweight sensing modality that complements existing gripper designs. The findings suggest a promising direction for enhancing manipulation robustness in turbid conditions where traditional optical sensors fail.
Toward Gripper-Integrated Active Electrosense for Pre-Contact Sensing in Underwater Soft Grippers
arXiv:2606.03204v1 Announce Type: new Abstract: Underwater manipulation often occurs under degraded visibility due to turbidity, glare, and gripper occlusion, limiting the reliability of vision-based perception during approach and grasping. In such settings, soft grippers are well suited for compliant interaction, but they typically lack an onboard pre-contact cue that can guide approach and closure when vision is unreliable. This extended abstract explores active electrosense as a lightweight sensing modality that can provide a proximity-like signal prior to contact by measuring perturbations of an applied electric field in conductive media. We instrument an octopus-inspired gripper with a discrete electrode layout and record multi-channel sensing voltages using off-the-shelf hardware. Simulation and tank experiments with a suspended conductive sphere show structured, object-dependent changes in the multi-electrode voltage readout relative to empty-water baselines, with detectability varying across excitation of 5 to 20 V and frequencies from 1 mHz to 1 kHz. These findings motivate systematic investigation of gripper-integrated electrosense as a complementary pre-contact cue for underwater soft manipulation.
Abstract:Underwater manipulation often occurs under degraded visibility due to turbidity, glare, and gripper occlusion, limiting the reliability of vision-based perception during approach and grasping. In such settings, soft grippers are well suited for compliant interaction, but they typically lack an onboard pre-contact cue that can guide approach and closure when vision is unreliable. This extended abstract explores active electrosense as a lightweight sensing modality that can provide a proximity-like signal prior to contact by measuring perturbations of an applied electric field in conductive media. We instrument an octopus-inspired gripper with a discrete electrode layout and record multi-channel sensing voltages using off-the-shelf hardware. Simulation and tank experiments with a suspended conductive sphere show structured, object-dependent changes in the multi-electrode voltage readout relative to empty-water baselines, with detectability varying across excitation of 5 to 20 V and frequencies from 1 mHz to 1 kHz. These findings motivate systematic investigation of gripper-integrated electrosense as a complementary pre-contact cue for underwater soft manipulation.
Robotics (cs.RO); Signal Processing (eess.SP)
arXiv:2606.03204 [cs.RO]
(or arXiv:2606.03204v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2606.03204 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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Full text under the publisher's open licence · 255 words