Rigid-Soft Interactive Design of a Lobster-Inspired Finger Surface for Enhanced Grasping Underwater.

ABSTRACT: Bio-inspirations from soft-bodied animals provide a rich design source for soft robots, yet limited literature explored the potential enhancement from rigid-bodied ones. This paper draws inspiration from the tooth profiles of the rigid claws of the Boston Lobster, aiming at an enhanced soft finger surface for underwater grasping using an iterative design process. The lobsters distinguish themselves from other marine animals with a pair of claws capable of dexterous object manipulation both on land and underwater. We proposed a 3-stage design iteration process that involves raw imitation, design parametric exploration, and bionic parametric exploitation on the original tooth profiles on the claws of the Boston Lobster. Eventually, 7 finger surface designs were generated and fabricated with

SUBMITTER: Jiang H 

PROVIDER: S-EPMC8727344 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature