Work

A Bio-Inspired Flexible Arm for Subsea Inspection: A Water Hydraulically Actuated Continuum Manipulator

Year: 2025

Type: article

Abstract: This paper outlines the outcomes of a multidisciplinary initiative aimed at creating flexible arms that leverage key aspects of soft-bodied sea animal anatomy. We designed and prototyped a flexible arm inspired by nature while focusing on integrating practical engineering technologies from a system perspective. The mechanical structure was developed by studying soft-bodied marine animals from the cephalopod order. Simultaneously, we carefully addressed engineering challenges and limitations, including material flexibility, inherent safety, energy efficiency, cost-effectiveness, and manufacturing feasibility. The design process is demonstrated through two successive generations of prototypes utilizing fluidic actuators. The first one exhibited both radial and longitudinal actuators, the second one only longitudinal actuators, thus trading off between bio-inspiration and engineering constraints.

Source: Journal of Marine Science and Engineering

DOI: 10.3390/jmse13040676

Authors: Emanuele Guglielmino, David Branson, Paolo Silvestri

Institutions: University of Nottingham, University of Genoa

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Life below water

Open Access status: gold

Estimated APC paid: $3,137