Octopus-Inspired Printing of Soft Multi-Material Structures Informed by Mobile EMG
Abstract
This proposal aims to automate and ramp up several newly developed capabilities for fabricating soft octopus-inspired arms with distributed sensing and actuation. This capability is informed by a series of biological studies which explores the sensory-motor control of the octopus arms.The aim of this funding is to procure several pieces of equipment which, when combined, will 1) better inform the design and layout of the sensing and actuation elements as well as the control architecture in our designs, and 2) facilitate higher-resolution, more-automated, and more-precise multi-material fabrication capabilities. This equipment will permit us to reach our teams shortterm goals faster and expand the horizons of our teams work within the projects remaining time frame.Current limitations to our manufacturing process require us to assemble rather large, mm-scale actuator units with discrete components. These units require several hand fabrication steps including soldering, positioning, and casting; each of these steps can introduce variation and reduces the efficacy of unified modeling attempts. In terms of physiological data collection, we are currentlyunable to record neural and electromyography (EMG) signals from freely moving octopuses.Impact on Research: This funding will enable us to directly print a variety of materials and increase our resolution, permitting our team to approach continuum-like behavior. This will be facilitated through 1) higher-precision fabrication processes, 2) automation, and 3) multi-material printing support. This will facilitate direct printing of actuation and sensing capable soft materials.This funding will also allow us to simultaneously collect EMG and neural signals from freely moving octopuses, permitting us to study the sensory-motor control of the octopus arms.Importance and Priority: The mission of our project is to supply the Office of Naval Research with novel material systems that can address long-standing deficiencies that have limited the viability of highly-reconfigurable continuum soft robotic systems for use in underwater applications. Initial results project have led to fundamental discoveries in understanding mechanisms for increasing response times & toughness, in materials with sensing and actuation capabilities.Education of Future Scientists and Engineers: We have included within this proposal several course-based initiatives which will be enhanced by the purchase of this equipment. These include two manufacturing classes which can leverage multi-material ink-jet printing capabilities along with some of the multi-material representations required for design, analysis, and manufacturingplanning. In addition, we will use the physiological data acquisition system in a bio-inspired robotics course to demonstrate advanced neural/EMG signal recording techniques and describe sensory-motor control of octopuses.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Aug 31, 2020
- Source ID
- N000142012813
Entities
People
- Daniel M. Aukes
Organizations
- Arizona State University
- Office of Naval Research
- United States Navy