Bio-inspired design of soft mechanisms using a toroidal hydrostat

• DOI: 10.1016/j.xcrp.2021.100572
• Publication Date: 2021-09-10T14:28:57Z
• Authors: Samuel E. Root; Daniel J. Preston; Gideon O. Feifke; Hunter Wallace; Renz Marion Alcoran; Markus P. Nemitz; Jovanna A. Tracz; George M. Whitesides
• Keywords: Soft Robotics; Hydrostatic equilibrium; Ball (mathematics)

Biology is replete with soft mechanisms of potential use for robotics. Here, we report that a soft, toroidal hydrostat can be used to perform three functions found in both living and engineered systems: gripping, catching, conveying. We demonstrate gripping mechanism uses tubular inversion encapsulate objects within crumpled elastic membrane under hydrostatic pressure. This produces forces depend predictably upon the geometric materials properties system. next catching akin chameleon's tongue: elasticity power catapulting process (≈400 m/s2) capture flying (e.g., bouncing ball). Finally, conveying passes through center tube (∼1 cm/s) using continuous inversion-eversion process. The hybrid hard-soft presented here applied toward integration functionality into robotic systems.