A Bio-Inspired Flexible Arm for Subsea Inspection: A Water Hydraulically Actuated Continuum Manipulator

Guglielmino, Emanuele; Branson, David; Silvestri, Paolo

Abstract

This paper outlines the outcomes of a multidisciplinary initiative aimed at creating flexible arms that leverage key aspects of soft-bodied sea animal anatomy We designed and prototyped a flexible arm inspired by nature, while focusing on integrating practical engineering technologies from a system perspective. The mechanical structure was developed by studying soft-bodied marine animals from the cephalopod order. Simultaneously, we carefully addressed engineering challenges and limitations, including material flexibility, inherent safety, energy efficiency, cost-effectiveness, and manufacturing feasibility. The design process is demonstrated through two successive generations of prototypes utilizing fluidic actuators. The first one exhibited both radial and longitudinal actuators, the second one only longitudinal actuators, thus trading-off between bio-inspiration and engineering constraints.

Citation

Guglielmino, E., Branson, D., & Silvestri, P. (in press). A Bio-Inspired Flexible Arm for Subsea Inspection: A Water Hydraulically Actuated Continuum Manipulator. Journal of Marine Science and Engineering, https://doi.org/10.3390/xxxxx

• Journal Article Type: Article
• Acceptance Date: Mar 21, 2025
• Deposit Date: Mar 21, 2025
• Publicly Available Date: Mar 21, 2025
• Journal: Journal of Marine Science and Engineering
• Electronic ISSN: 2077-1312
• Publisher: MDPI
• Peer Reviewed: Peer Reviewed
• DOI: https://doi.org/10.3390/xxxxx
• Keywords: continuum arm; soft robotics; underwater; bio-inspired design; hydraulic actuation
• Public URL: https://nottingham-repository.worktribe.com/output/46740449