  Here we propose and investigate a novel vibrissal tactile sensor - the
TacWhisker array - based on modifying a 3D-printed optical cutaneous
(fingertip) tactile sensor - the TacTip. Two versions are considered: a static
TacWhisker array analogous to immotile tactile vibrissae (e.g. rodent
microvibrissae) and a dynamic TacWhisker array analogous to motile tactile
vibrissae (e.g. rodent macrovibrissae). Performance is assessed on an active
object localization task. The whisking motion of the dynamic TacWhisker leads
to millimetre-scale location perception, whereas perception with the static
TacWhisker array is relatively poor when making dabbing contacts. The dynamic
sensor output is dominated by a self-generated motion signal, which can be
compensated by comparing to a reference signal. Overall, the TacWhisker arrays
give a new class of tactile whiskered robots that benefit from being relatively
inexpensive and customizable. Furthermore, the biomimetic basis for the
TacWhiskers fits well with building an embodied model of the rodent sensory
system for investigating animal perception. A video demonstrating this robot
can be seen at https://www.youtube.com/watch?v=ksS177ep6yY
