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A Sea-Anemone-Inspired, Multifunctional, Bistable Gripper.

Qiukai Qi1,2,3, Chaoqun Xiang1, Van Anh Ho2

  • 1SoftLab, Bristol Robotics Laboratory, University of Bristol, Bristol, United Kingdom.

Soft Robotics
|December 9, 2021
PubMed
Summary

This study introduces a novel bistable soft robotic gripper inspired by sea anemones. It integrates sensing and multimodal gripping for adaptive, autonomous functions in unpredictable environments.

Keywords:
bistablemultifunctionalsea-anemone-inspiredsemipassively grippingsoft gripper

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Area of Science:

  • Robotics
  • Biomimetics
  • Materials Science

Background:

  • Soft robots require enhanced multifunctionality for autonomous operation in unpredictable environments.
  • Integrating sensing and actuation is key for advanced soft robotic grippers.
  • Sea anemones offer a biomimetic model for efficient prey detection and capture through coupled sensing and actuation.

Purpose of the Study:

  • To develop a multifunctional soft robotic gripper inspired by sea anemone body structures.
  • To integrate proprioceptive and exteroceptive sensing with multimodal gripping (grasping and pinching) capabilities.
  • To demonstrate a compact, universal gripper design with efficient multifunctionality.

Main Methods:

  • Designed a bistable gripper utilizing a dome membrane with external tapered pins for gripping and internal markers for optical sensing.
  • Leveraged the membrane's bistable nature (natural and retracted states) and snap-through behavior for actuation.
  • Employed an embedded camera to analyze marker distribution for sophisticated sensing.
  • Characterized gripping and sensing functions independently before integrating them into an object handling system.

Main Results:

  • Successfully developed a bistable soft robotic gripper capable of both grasping and pinching.
  • Demonstrated integrated proprioceptive and exteroceptive sensing through optical marker analysis.
  • Validated the gripper's functionality in an object handling system, showcasing potential for advanced applications.
  • Achieved an efficient and elegant integration of sensing and actuation in a compact design.

Conclusions:

  • The developed bistable gripper offers a novel approach to soft robotics, inspired by natural systems.
  • The integrated sensing and gripping functionalities enable adaptive and autonomous operation.
  • This compact, universal design holds significant potential for diverse robotic applications requiring enhanced dexterity and perception.