A Pragmatic Bio-inspired Approach to the Design of Octopus-inspired Arms

This paper presents the results of a multidisciplinary project where biologists, mechanical engineers and electronic engineers worked together to develop bio-inspired soft continuum arms, whose design captures and takes advantage of key features of the octopus anatomy and control. The cross-integration of such diverse expertise was channelled towards the design of soft continuum arms whose characteristics were inspired by nature, but with a focus on readily available engineering technologies and their effective integration from a system viewpoint. On one side the mechanical structure and the control was designed looking at the animal, in particular at the coupling between its anatomy and control system that allows the animal to survive in its ecosystem. On the other side engineering issues and constraints were carefully accounted for, namely material softness, intrinsic safety, energy efficiency, cost effectiveness and manufacturing aspects. The design evolution is presented through three different generations of prototypes where both bio-inspiration and engineering requirements are appropriately blended.