A biologically inspired gripping device

Purpose – 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. Design/methodology/approach – 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. Findings – The central grasper is capable of conforming to soft and irregular material. Practical implications – This device could have novel applications both for removal of tissue in medical applications and for removing material from clogged plumbing lines. Originality/value – 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.