As an undergrad I worked with a professor who was doing precisely that! https://sense-lab.github.io/pubs/pdf/solomon_nature_2006.pdf

I hadn't thought about this in a long time. Looks like her lab is still going strong doing research at the intersection of biology and robotics on whisker-based sensing:

https://sense-lab.github.io/robotics.html

https://sense-lab.github.io/publications.html