Octopus-inspired sensorized soft arm for environmental interaction

Author:

Xie Zhexin12ORCID,Yuan Feiyang1ORCID,Liu Jiaqi1ORCID,Tian Lufeng1ORCID,Chen Bohan1ORCID,Fu Zhongqiang1ORCID,Mao Sizhe1ORCID,Jin Tongtong1ORCID,Wang Yun1ORCID,He Xia1ORCID,Wang Gang1ORCID,Mo Yanru1,Ding Xilun1ORCID,Zhang Yihui3ORCID,Laschi Cecilia2ORCID,Wen Li1ORCID

Affiliation:

1. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.

2. Department of Mechanical Engineering, National University of Singapore, Singapore 117575, Singapore.

3. Applied Mechanics Laboratory, Department of Engineering Mechanics, Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing 100084, China.

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.

Publisher

American Association for the Advancement of Science (AAAS)

Subject

Artificial Intelligence,Control and Optimization,Computer Science Applications,Mechanical Engineering

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