Portrait of David Brenken is unavailable

David Brenken

Alumni

Publications

They Hear Me Rolling: Design and Characterization of a Distributed, Rolling Acoustic-Tactile Sensor
Wilfred Mason
David Brenken
Olivier St-Martin Cormier
Audrey Sedal
Tactile sensor design has been widely explored at the centimeter-scale; fewer explorations exist in larger scale systems with varied geometr… (see more)ies. We present a meter-scale tactile sensor for wheeled robotic platforms based on a flexible acoustic waveguide. This sensor architecture performs contact sensing over the surface of a rotating wheel with a single transducer that is separated from the sensing surface. The design and characterization of the sensor are presented, along with a demonstration of a state-estimation framework using tactile sensor feedback to measure surface features.
2025-09-30
IEEE Sensors Letters (published)
doi.org
Acoustic tactile sensing for mobile robot wheels
Wilfred Mason
David Brenken
Falcon Z. Dai
Ricardo Gonzalo Cruz Castillo
Olivier St-Martin Cormier
Audrey Sedal
2024-02-27
ArXiv (preprint)
doi.org
arxiv.org