Traditional robots have rigid underlying structures that limit their ability to interact with environment. For example, conventional robot manipulators links and can manipulate objects using only specialised end effectors. These often encounter difficulties operating in unstructured highly congested environments. A variety of animals plants exhibit complex movement soft devoid components. Muscular hydrostats (e.g. octopus arms elephant trunks) are almost entirely composed muscle connective...

Traditional robots have rigid underlying structures that limit their ability to interact with environment. For example, conventional robot manipulators links and can manipulate objects using only specialised end effectors. These often encounter difficulties operating in unstructured highly congested environments. A variety of animals plants exhibit complex movement soft devoid components. Muscular hydrostats (e.g. octopus arms elephant trunks) are almost entirely composed muscle connective...

Journal Article Tongues, tentacles and trunks: the biomechanics of movement in muscular-hydrostats Get access WILLIAM M. KIER, KIER 1Department Biology, Woods Hole Oceanographic Institution, Hole, Massachusetts 02543, U.S.A. Search for other works by this author on: Oxford Academic Google Scholar KATHLEEN K. SMITH 2Department Anatomy, Duke University Medical Center, Durham, North Carolina 27710, Zoological Linnean Society, Volume 83, Issue 4, April 1985, Pages 307–324,...

In this paper, we describe our recent results in the development of a new class soft, continuous backbone ("continuum") robot manipulators. Our work is strongly motivated by dexterous appendages found cephalopods, particularly arms and suckers octopus, tentacles squid. ongoing investigation these animals reveals interesting unexpected functional aspects their structure behavior. The arrangement dynamic operation muscles connective tissue observed variety octopus species motivate underlying...

Octopus suckers consist of a tightly packed three-dimensional array muscle with three major fiber orientations: 1) radial muscles that traverse the wall; 2) circular arranged circumferentially around sucker; and 3) meridional oriented perpendicular to muscles. The sucker also includes inner outer fibrous connective tissue layers an crossed fibers embedded in musculature. Adhesion results from reducing pressure inside cavity. This can be achieved by functioning as muscular-hydrostat....

Abstract The morphology of the musculature and connective tissues arms Octopus bimaculoides was analyzed with light microscopy. We also studied O. briareus digueti , which possess relatively more elongate less arms, respectively. found to be remarkably uniform among species. consist a densely packed three‐dimensional arrangement muscle fibers tissue surrounding central axial nerve cord. Three primary fiber orientations were observed: 1) transverse oriented in planes perpendicular long axis...

The arms and tentacles of squid (Family Loliginidae: Sepioteuthis sepioidea (Blainville), Loligo pealei (LeSueur), plei Loliguncula brevis (Blainville)) do not possess the hardened skeletal elements or fluid-filled cavities that typically provide support in other animals. Instead, these appendages are made up almost entirely muscle. It is suggested here musculature serves as both effector movement system itself. High-speed movie recordings were used to observe prey capture by loliginid...

This paper offers a quantitative analysis of tentacle extension in squid that integrates several levels structural organization. The muscular stalks the two tentacles are rapidly elongated by 70 per cent resting length during prey capture. A typical duration is 30 ms Loligo pealei (with contracted 93 mm and strike distance about 37 mm). In successful strike, terminal clubs hit attach to it via arrays suckers. forward dynamics model proposed for tentacular stalk motion club. modelled as...

Abstract The transverse muscle mass of the arm and circular masses tentacle squid ( Loligo pealei Illex illecebrosus ) were examined by transmission electron microscopy. Previous work had indicated that although similar in gross arrangement, creates rapid elongation during prey capture while is involved creating bending movements. difference function between arms tentacles reflected differences ultrastructure. made up regular, obliquely striated fibers 1–6 μm diameter. associated are...

This article describes a soft suction cup end effector with squid-inspired generation and an octopus-inspired design that uses dielectric elastomer actuator (DEA) to generate for adhesion. The fabrication process the is described in detail, mechanical model generated pressure differential as function of voltage presented. When actuated, DEA exerts electrostatic stress on walls effector, resulting reduction its water-filled cavity. soft, flexible, creates without reliance typical elements...

Skeletal support systems are essential for support, movement, muscular antagonism, and locomotion. Crustaceans shed their rigid exoskeleton at each molt yet still capable of forceful movement. We hypothesize that the soft water-inflated body newly molted crabs may rely on a hydrostatic skeleton, similar to worms polyps. measured internal pressure force exerted during claw adduction observed strong correlation between pressure, consistent with skeletal support. This alternation two basic...

High-speed cine recordings of prey capture by the squid Loligo pealei were used to analyze kinematics rapid tentacular strike. The proximal portion tentacle, stalk, elongates during non-extensible distal club, contacts and attaches using suckers. Seven sequences filmed at 750 frames s-1 analyzed frame frame. positions head, tentacles digitized, data smoothed quintic natural B-splines generalized cross-validation (GCV) criterion. During strike, animal swims forward velocities ranging from...

The lateral fins of cuttlefish and squid consist a tightly packed three‐dimensional array musculature that lacks bony skeletal support or fluid‐filled cavities for hydrostatic support. During swimming manoeuvring, the are bent upward downward in undulatory waves. fin is arranged three mutually perpendicular planes. Transverse muscle bundles extend parallel to surface from base margin. Dorso‐ventral dorsal ventral connective tissue fasciae median fascia. A layer longitudinal situated adjacent...

The morphology and mechanics of the tube feet, ampullae, lateral radial canals water vascular systems Luidia clathrata Astropecten articulatus (Echinodermata, Asteroidea) were analyzed. Histological methods, based on embedding in both paraffin glycol methacrylate, used to document arrangement muscle connective tissue. foot wall includes longitudinal muscles tissue fibers, latter arranged a crossed-fiber helical array, with fiber angle about 67{deg} elongated feet. No evidence was found for...

ABSTRACT The goal of this study was to investigate morphological adaptations associated with hydrostatic elongation the tongue during feeding in African pig-nosed frog Hemisus marmoratum. Whereas previous studies had suggested that H. marmoratum elongates hydraulically, anatomical observations reported here favour a muscular mechanism elongation. possesses previously undescribed compartment m. genioglossus (m. dorsoventralis), which is intrinsic and whose muscle fibres are oriented...

The arrangement of the musculature and connective tissues buccal mass coleoid cephalopods Octopus bimaculoides, Sepia officinalis, Loliguncula brevis was examined using dissection histology. Serial sections in three mutually perpendicular planes were used to identify muscles responsible for beak movements stability describe their morphology fiber trajectories. Four major identified: anterior, posterior, superior, lateral mandibular muscles. superior connect upper lower beak. Although...

SUMMARY The contractile properties of the transverse muscle tentacles and arms squid Loligo pealei were investigated using small fibre bundle preparations. In addition,transmission electron microscopy was used to measure length thick myofilaments two types. filament cross-striated tentacle fibres 0.81±0.08 μm (mean ± S.D, N=51) while that obliquely striated arm 7.41±0.44 (N=58). difference in types predicted result a much higher shortening velocity compared with muscle. This tested by...

Aperture form of marine prosobranch gastropods has evolved under the influence a number different selective forces, including: generation shell form; protection from predation; accommodation foot during clamping behavior: and water currents in out mantle cavity. correlates positively with shape most shape, turn, moderately well substrate preference. Almost all that have non-round apertures elongate aperture parallel to so currenth tend flow anteriorly posteriorly. Fresh-water pulmonates...

Cone snails use an extensile, tubular proboscis as a conduit to deliver potent cocktail of bioactive venom peptides into their prey. Previous studies have focused mainly on understanding the venom's role in prey capture but successful requires both rapid physiological and biomechanical mechanisms. Conus catus, fish-hunting species, uses high-speed hydraulic mechanism inject its hollow, spear-like radular tooth We take integrated approach investigating biomechanics this process by coupling...

The structural and functional consequences of changes in size or scale have been well studied animals with rigid skeletons, but relatively little is known about effects hydrostatic skeletons. We used glycol methacrylate histology microscopy to examine the scaling mechanically important morphological features earthworm Lumbricus terrestris over an ontogenetic range from 0.03 12.89 g. found that L. becomes disproportionately longer thinner as it grows. This increase length diameter ratio means...