A Bio-Inspired Interactive Soft Machine Integrated with Embodied Highly Stretchable, Multifunctional Electronic Circuit

The octopus's tentacles have unique sensing and locally computing capabilities, contributing to their extraordinary manipulation in complex environments. In this study, we imitate this unique feature of octopus tentacles and implement a bio-inspired soft tentacle robot that integrates highly deformable sensors and control circuits. In particular, we integrate IC chips, electronic components, and flexible sensing (suction, bending, and temperature sensing) through printing and transferring liquid metal circuits onto stretchable silicone substrate. Electronic intelligence was embedded into the tentacle. As a result, the tentacle can perceive and processes information, thus endow grasping decision and altering control parameters. Then, we realize the interactive control of the prototype with one human finger. We designed a liquid metal sensing circuit and embedded three vacuum suction cups for haptic feedback. The results show that the tentacle prototype with an integrated sensing-control circuit can reconstruct its bending curve. The robot system can complete the tasks of identifying and avoiding obstacles, detecting and closed-loop grasping objects in an unstructured environment. Through the suction haptic feedback, one can operate the bio-inspired prototype to search, grasp and fetch the target object without visual information. This paper provides a new method for soft robots that operate in unstructured environments and interact safely with humans.