# US 2020/0393291 A1 · Sensors > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2020/0393291 A1 - Document ID: US20200393291A1 - Status: Published application - Kind: A1 - Application number: 16/897,280 - Filed: 2020-06-10 - Published: 2020-12-17 - Earliest claimed: 2019-06-11 - Assignees: Bristol Maritime Robotics Ltd - Applicants: Bristol Maritime Robotics Ltd - Inventors: Richard Sewell; Thomas Rooney - Web page: https://patentgrep.com/patent/US20200393291A1 ## CPC - G01H 11/06: by electric means - G01D 5/145: {influenced by the relative movement between the Hall device and magnetic fields (see G01R33/06)} - G01D 21/00: Measuring or testing not otherwise provided for - G01P 5/04: using deflection of baffle-plates - G01P 15/00: Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration - G01B 5/20: for measuring contours or curvatures - G01B 7/016: Constructional details of contacts - G01H: MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES - G01D: MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR - G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G}) - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS ## Abstract A sensor comprising a whisker shaft and a follicle is provided. The shaft has a root end and a tip end and the shaft tapers from the root end to the tip end so that the root end is wider and the tip end is narrower. The root end is pivotably mounted in the follicle. ## Claims ### Claim 1 A sensor comprising a whisker shaft and a follicle, the shaft having a root end and a tip end, in which the shaft tapers from the root end to the tip end so that the root end is wider and the tip end is narrower, and the root end is pivotably mounted in the follicle. ### Claim 2 (depends on 1) A sensor as claimed in claim 1, in which the root end is attached to a hub. ### Claim 3 (depends on 2) A sensor as claimed in claim 2, in which the hub is mounted in an elastomeric block located or provided in or by the follicle. ### Claim 4 (depends on 2) A sensor as claimed in claim 2, in which the whisker tends to pivot about a point generally at the centre of the hub. ### Claim 5 (depends on 1) A sensor as claimed in claim 1, in which the pivot point of the body is at substantially a centre point of the follicle. ### Claim 6 (depends on 1) A sensor as claimed in claim 1, in which the tapering is generally constant along the length of the shaft. ### Claim 7 (depends on 1) A sensor as claimed in claim 1, in which the whisker shaft is formed from a composite material. ### Claim 8 (depends on 7) A sensor as claimed in claim 7, in which the whisker shaft is formed from GRP. ### Claim 9 (depends on 1) A sensor as claimed in claim 1, in which the whisker shaft has a generally elongated cone shape. ### Claim 10 (depends on 1) A sensor as claimed in claim 1, in which the shaft is approximately 1.5 mm at the root end and approximately 0.7 mm at the tip end. ### Claim 11 (depends on 1) A sensor as claimed in claim 1, in which a magnet is attached to the whisker and a magnetic sensor is provided in the follicle to detect the position of the magnet and hence the whisker. ### Claim 12 (depends on 1) A sensor as claimed in claim 1, in which an accelerometer is provided at or near the root end of the whisker. ### Claim 13 (depends on 1) A whisker array comprising a plurality of whiskers as claimed in claim 1. ### Claim 14 (depends on 13) An array as claimed in claim 13, further comprising a local processor. ### Claim 15 (depends on 13) An array as claimed in claim 13, in which the array consists of three whiskers. ### Claim 16 (depends on 1) A vehicle provided with one or more sensors according to claim 1. ### Claim 17 A method of tactile exploration comprising: providing one or more artificial whisker sensors for taking angular measurements, the or each sensor comprising a tapered, elongate body; moving the whisker through material of interest and in doing so causing vortex-induced vibration; and measuring the frequency spectrum of the vibration. ### Claim 18 (depends on 17) A method as claimed in claim 17, comprising the step of measuring and/or calculating and/or inferring whisker speed and/or material viscosity. ### Claim 19 (depends on 17) A method as claimed in claim 17, comprising the step of measuring motion of the sensor/s at the root end thereof. ### Claim 20 (depends on 1, 17) A method as claimed in claim 17, performed using one or more sensors according to claim 1.