Exploring the Deep Sea: Combining a Bistable Mechanism with Origami-Inspired Soft Actuators

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Authors

  • Cora Maria Sourkounis
  • Ditzia Susana Garcia Morales
  • Tom Kwasnitschka
  • Annika Raatz

External Research Organisations

  • GEOMAR Helmholtz Centre for Ocean Research Kiel
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Details

Original languageEnglish
Title of host publication2024 IEEE 7th International Conference on Soft Robotics
Subtitle of host publicationRoboSoft
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages115-120
Number of pages6
ISBN (electronic)9798350381818
ISBN (print)979-8-3503-8182-5
Publication statusPublished - 2024
Event7th IEEE International Conference on Soft Robotics, RoboSoft 2024 - San Diego, United States
Duration: 14 Apr 202417 Apr 2024

Abstract

Sediment sampling is a prevalent approach for ex-ploring and understanding the ocean and its change over time. Unfortunately, the sampling process can be very costly due to the logistics that involve the transportation and deployment of the Remotely Operative Vehicle (ROV), specifically designed for this task. In a collaboration of marine scientists and engineers, this work focuses on developing a lightweight, modular and cost efficient actuation system for deep-sea suction-sampling. We propose a binary actuation system to manipulate the sampling tube directly instead of the tube being guided by a traditional manipulator. The core of the actuation system are bistable actuators that combine origami-inspired soft actuators with a bistable mechanism to form a lightweight but still robust system. This concept aims to lower the cost of deep-sea sediment sampling by offering the option to replace the currently used hydraulic titanium manipulator, that is traditionally used for deep-sea research. We present the design, manufacturing and proof of concept for the combination of a origami-inspired soft actuator with a bistable mechanism.

ASJC Scopus subject areas

Sustainable Development Goals

Cite this

Exploring the Deep Sea: Combining a Bistable Mechanism with Origami-Inspired Soft Actuators. / Sourkounis, Cora Maria; Garcia Morales, Ditzia Susana; Kwasnitschka, Tom et al.
2024 IEEE 7th International Conference on Soft Robotics: RoboSoft . Institute of Electrical and Electronics Engineers Inc., 2024. p. 115-120.

Research output: Chapter in book/report/conference proceedingConference contributionResearchpeer review

Sourkounis, CM, Garcia Morales, DS, Kwasnitschka, T & Raatz, A 2024, Exploring the Deep Sea: Combining a Bistable Mechanism with Origami-Inspired Soft Actuators. in 2024 IEEE 7th International Conference on Soft Robotics: RoboSoft . Institute of Electrical and Electronics Engineers Inc., pp. 115-120, 7th IEEE International Conference on Soft Robotics, RoboSoft 2024, San Diego, United States, 14 Apr 2024. https://doi.org/10.1109/RoboSoft60065.2024.10521929
Sourkounis, C. M., Garcia Morales, D. S., Kwasnitschka, T., & Raatz, A. (2024). Exploring the Deep Sea: Combining a Bistable Mechanism with Origami-Inspired Soft Actuators. In 2024 IEEE 7th International Conference on Soft Robotics: RoboSoft (pp. 115-120). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RoboSoft60065.2024.10521929
Sourkounis CM, Garcia Morales DS, Kwasnitschka T, Raatz A. Exploring the Deep Sea: Combining a Bistable Mechanism with Origami-Inspired Soft Actuators. In 2024 IEEE 7th International Conference on Soft Robotics: RoboSoft . Institute of Electrical and Electronics Engineers Inc. 2024. p. 115-120 doi: 10.1109/RoboSoft60065.2024.10521929
Sourkounis, Cora Maria ; Garcia Morales, Ditzia Susana ; Kwasnitschka, Tom et al. / Exploring the Deep Sea : Combining a Bistable Mechanism with Origami-Inspired Soft Actuators. 2024 IEEE 7th International Conference on Soft Robotics: RoboSoft . Institute of Electrical and Electronics Engineers Inc., 2024. pp. 115-120
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abstract = "Sediment sampling is a prevalent approach for ex-ploring and understanding the ocean and its change over time. Unfortunately, the sampling process can be very costly due to the logistics that involve the transportation and deployment of the Remotely Operative Vehicle (ROV), specifically designed for this task. In a collaboration of marine scientists and engineers, this work focuses on developing a lightweight, modular and cost efficient actuation system for deep-sea suction-sampling. We propose a binary actuation system to manipulate the sampling tube directly instead of the tube being guided by a traditional manipulator. The core of the actuation system are bistable actuators that combine origami-inspired soft actuators with a bistable mechanism to form a lightweight but still robust system. This concept aims to lower the cost of deep-sea sediment sampling by offering the option to replace the currently used hydraulic titanium manipulator, that is traditionally used for deep-sea research. We present the design, manufacturing and proof of concept for the combination of a origami-inspired soft actuator with a bistable mechanism.",
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