Soft Robotic Grippers for Biological Sampling on Deep Reefs

Authors

Kevin C. Galloway, Harvard University
Kaitlyn P. Becker, Harvard University
Brennan Phillips, University of Rhode Island
Jordan Kirby, University of Rhode Island
Stephen Licht, University of Rhode Island
Dan Tchernov, Haifa University
Robert J. Wood, Harvard University
David F. Gruber, CUNY Bernard M Baruch CollegeFollow

Document Type

Article

Publication Date

3-17-2016

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.

Comments

This article was originally published in Soft Robotics, available at DOI: 10.1089/soro.2015.0019.

This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0)