The purpose of this paper is to inform the readers of the design process and practical implications of a new gripping device created by the authors.
We have developed a novel gripping device based on the biomechanics of the feeding apparatus of the marine mollusk, Aplysia californica. The gripping device uses modified McKibben artificial muscles arranged in rings and placed in parallel. The rings contract sequentially to produce peristalsis, which moves a grasping mechanism back and forth through the rings.
The central grasper is capable of conforming to soft and irregular material.
This device could have novel applications both for removal of tissue in medical applications and for removing material from clogged plumbing lines.
This paper demonstrates the utility of using biological inspiration for developing novel robotic devices and suggests new ways of handling slippery, irregular, and fragile material.
