Whisker Sensor Based on 3D Magnetic Self-Decoupling: Multidirectional Flow Field Sensing Mechanism and Experimental Verification

To address the high demands of underwater robots for fluid dynamics information perception and to overcome the limitations of traditional optical and acoustic sensing technologies, this study draws inspiration from the exceptional fluid sensing capabilities of seal whiskers and proposes a novel bionic whisker sensor. This sensor combines three-dimensional magnetic force decoupling perception technology and biomimetic growth structure. The core consists of magnets, a sensor frame containing PLA whiskers, and a three-dimensional Hall sensor. It can measure the velocity and direction of multi-directional steady-state flow fields, as well as the frequency of vortex streets. Through experiments in a circular water tank, the sensor shows high stability at an attack angle of 0°, and can accurately perceive the flow velocity and vortex shedding frequency, providing an effective solution for underwater environment perception.