title: Dielectric elastomer actuators for octopus inspired suction cups.
abstract: Suction cups are often found in nature as attachment strategy in water. Nevertheless, the application of the artificial counterpart is limited by the dimension of the actuators and their usability in wet conditions. A novel design for the development of a suction cup inspired by octopus suckers is presented. The main focus of this research was on the modelling and characterization of the actuation unit, and a first prototype of the suction cup was realized as a proof of concept. The actuation of the suction cup is based on dielectric elastomer actuators. The presented device works in a wet environment, has an integrated actuation system, and is soft. The dimensions of the artificial suction cups are comparable to proximal octopus suckers, and the attachment mechanism is similar to the biological counterpart. The design approach proposed for the actuator allows the definition of the parameters for its development and for obtaining a desired pressure in water. The fabricated actuator is able to produce up to 6 kPa of pressure in water, reaching the maximum pressure in less than 300 ms.
authors.affiliation: Center for Micro-BioRobotics@SSSA, Istituto Italiano di Tecnologia (IIT), Viale Rinaldo Piaggio 34, I-56025 Pontedera, Italy. The BioRobotics Institute, Scuola Superiore Sant'Anna (SSSA), Viale Rinaldo Piaggio 34, I-56025 Pontedera, Italy.
authors.forename: M
authors.initials: M
authors.lastname: Follador
authors.forename: F
authors.initials: F
authors.lastname: Tramacere
authors.forename: B
authors.initials: B
authors.lastname: Mazzolai
mesh_terms: D000818:Animals; D032701:Biomimetics / Q000295:instrumentation*; D003198:Computer Simulation; D017076:Computer-Aided Design; D020724:Elastomers / Q000737:chemistry* / Q000528:radiation effects; D004574:Electromagnetic Fields; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005121:Extremities / Q000033:anatomy & histology / Q000502:physiology*; D055617:Micro-Electrical-Mechanical Systems / Q000295:instrumentation*; D008954:Models, Biological; D049831:Octopodiformes / Q000033:anatomy & histology / Q000502:physiology*; D012371:Robotics / Q000295:instrumentation*; D014159:Transducers; D014618:Vacuum
chemical_list: D020724:Elastomers