Objective 
Robotics provides an excellent platform for testing biomechanics and neural control hypotheses. We have developed two soft robots that are directly inspired from the biomechanics of the marine mollusk, Aplysia californica. |
Schematic of an Actuator
 Materials and Methods |
Short Endoscope Movie
Theory
Schematic of Gripper
Schematic of Gripper
Central Graspers
Inflatable Lips Gradper |
Hinged Grasper |
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Endoscope Introduction
McKibben Artificial Muscles
McKibben Artificial Muscles
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Construction Order
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Discussion of Endoscope
Gripper Introduction
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Method of Calculating the
Inward Force of the Ring
Inward Force of the Ring
Results Predicted Force and Final Position  |
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Short Gripper Movies |
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Discussion of Gripper |
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Peristaltic Locomotion
Moveable Seal
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Schematic Cutaway of Buccal Mass
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Free Body Diagram of Ring & Gasper
Theory
Artificial Peristaltic Cycle
Endoscope Results
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Mechanics of Operation
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Materials and Methods Ring Construction and Operation
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