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Soft Robotic Grippers for Biological Sampling on Deep Reefs
Open accessAbstract
Abstract This article presents the development of an underwater gripper that utilizes soft robotics technology to delicately manipulate and sample fragile species on the deep reef. Existing solutions for deep sea robotic manipulation have historically been driven by the oil industry, resulting in destructive interactions with undersea life. Soft material robotics relies on compliant materials that are inherently impedance matched to natural environments and to soft or fragile organisms. We demonstrate design principles for soft robot end effectors, bench-top characterization of their grasping performance, and conclude by describing in situ testing at mesophotic depths. The result is the first use of soft robotics in the deep sea for the nondestructive sampling of benthic fauna.
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Citations
Cited by
Biomedical applications of soft robotics
Cianchetti, M., Laschi, C., Menciassi, A., & Dario, P. (2018) · Nature Reviews Materials · doi:10.1038/s41578-018-0022-y · Cited by 1,435
Design principles for creating synthetic underwater adhesives
Narayanan, A., Dhinojwala, A., & Joy, A. (2021) · Chemical Society Reviews · doi:10.1039/d1cs00316j · Cited by 193
OmniSkins: Robotic skins that turn inanimate objects into multifunctional robots
Booth, J. W., Shah, D., Case, J. C., White, E. L., Yuen, M. C., Cyr-Choiniere, O., & Kramer-Bottiglio, R. (2018) · Science Robotics · doi:10.1126/scirobotics.aat1853 · Cited by 156
Lessons for Robotics From the Control Architecture of the Octopus
Sivitilli, D. M., Smith, J. R., & Gire, D. H. (2022) · Frontiers in Robotics and AI · doi:10.3389/frobt.2022.862391 · Cited by 13
“This paper does not focus on actuation per se; this topic is covered thoroughly in reviews on soft robotics (Kim et al., 2013; Galloway et al., 2016; Manti et al., 2016; Polygerinos et al., 2017; Cianchetti et al., 2018; Whitesides, 2018).”
BackgroundAfsar, O. K., Pupillo, G., Vitucci, G., Babatain, W., Ishii, H., & Cacucciolo, V. (2026) · Science Robotics · doi:10.1126/scirobotics.ady6438 · Cited by 12
Metadata
- Authors
- Galloway, K. C., Becker, K. P., Phillips, B., Kirby, J., Licht, S., Tchernov, D., Wood, R. J., & Gruber, D. F.
- Venue
- Soft Robotics
- Publisher
- SAGE Publications
- Published
- 2016-03
- Volume
- 3
- Issue
- 1
- Pages
- 23-33
- ISSN
- 2169-5172 (ISSN-L)
- 2169-5180
- OpenAlex
- W2296718990
- Cited by
- 848
- References
- 0
- FWCI
- 31.31
- Type
- journal article
- Language
- en
- Open access
- hybrid
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Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
