The DOI matches its Crossref record; 34 of the 34 references it cites were found in a registry or an index.
Octopus-inspired sensorized soft arm for environmental interaction
Abstract
Octopuses can whip their soft arms with a characteristic “bend propagation” motion to capture prey with sensitive suckers. This relatively simple strategy provides models for robotic grasping, controllable with a small number of inputs, and a highly deformable arm with sensing capabilities. Here, we implemented an electronics-integrated soft octopus arm (E-SOAM) capable of reaching, sensing, grasping, and interacting in a large domain. On the basis of the biological bend propagation of octopuses, E-SOAM uses a bending-elongation propagation model to move, reach, and grasp in a simple but efficient way. E-SOAM’s distal part plays the role of a gripper and can process bending, suction, and temperature sensory information under highly deformed working states by integrating a stretchable, liquid-metal–based electronic circuit that can withstand uniaxial stretching of 710% and biaxial stretching of 270% to autonomously perform tasks in a confined environment. By combining this sensorized distal part with a soft arm, the E-SOAM can perform a reaching-grasping-withdrawing motion across a range up to 1.5 times its original arm length, similar to the biological counterpart. Through a wearable finger glove that produces suction sensations, a human can use just one finger to remotely and interactively control the robot’s in-plane and out-of-plane reaching and grasping both in air and underwater. E-SOAM’s results not only contribute to our understanding of the function of the motion of an octopus arm but also provide design insights into creating stretchable electronics-integrated bioinspired autonomous systems that can interact with humans and their environments.
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Metadata
- Authors
- Xie, Z., Yuan, F., Liu, J., Tian, L., Chen, B., Fu, Z., Mao, S., Jin, T., Wang, Y., He, X., Wang, G., Mo, Y., Ding, X., Zhang, Y., Laschi, C., & Wen, L.
- Venue
- Science Robotics
- Published
- 2023-11-22
- Volume
- 8
- Issue
- 84
- Pages
- eadh7852-eadh7852
- ISSN
- 2470-9476 (ISSN-L)
- OpenAlex
- W4389127909
- Cited by
- 299
- References
- 34
- FWCI
- 21.93
- Type
- journal article
- Language
- en
- Open access
- closed
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