Self-powered soft robot in the Mariana Trench

Guorui Li, Xiangping Chen, Fanghao Zhou, Yiming Liang, Youhua Xiao, Xunuo Cao, Zhen Zhang, Mingqi Zhang, Baosheng Wu, Shunyu Yin, Yi Xu, Hongbo Fan, Zheng Chen, Wei Song, Wenjing Yang, Binbin Pan, Jiaoyi Hou, Weifeng Zou, Shunping He, Xuxu Yang, Guoyong Mao, Zheng Jia, Haofei Zhou, Tiefeng Li (), Shaoxing Qu, Zhongbin Xu, Zhilong Huang, Yingwu Luo, Tao Xie, Jason Gu, Shiqiang Zhu and Wei Yang
Additional contact information
Guorui Li: Zhejiang University
Xiangping Chen: Zhejiang University
Fanghao Zhou: Zhejiang University
Yiming Liang: Zhejiang Lab
Youhua Xiao: Zhejiang University
Xunuo Cao: Zhejiang University
Zhen Zhang: Zhejiang University
Mingqi Zhang: Zhejiang University
Baosheng Wu: Chinese Academy of Sciences
Shunyu Yin: Zhejiang University
Yi Xu: Zhejiang University
Hongbo Fan: Zhejiang University
Zheng Chen: Zhejiang University
Wei Song: Zhejiang University
Wenjing Yang: National University of Defense Technology
Binbin Pan: Shanghai Ocean University
Jiaoyi Hou: Dalian Maritime University
Weifeng Zou: Dalian Maritime University
Shunping He: Chinese Academy of Sciences
Xuxu Yang: Zhejiang University
Guoyong Mao: Zhejiang University
Zheng Jia: Zhejiang University
Haofei Zhou: Zhejiang University
Tiefeng Li: Zhejiang University
Shaoxing Qu: Zhejiang University
Zhongbin Xu: Zhejiang University
Zhilong Huang: Zhejiang University
Yingwu Luo: Zhejiang University
Tao Xie: Zhejiang University
Jason Gu: Zhejiang Lab
Shiqiang Zhu: Zhejiang Lab
Wei Yang: Zhejiang University

Nature, 2021, vol. 591, issue 7848, 66-71

Abstract: Abstract The deep sea remains the largest unknown territory on Earth because it is so difficult to explore1–4. Owing to the extremely high pressure in the deep sea, rigid vessels5–7 and pressure-compensation systems8–10 are typically required to protect mechatronic systems. However, deep-sea creatures that lack bulky or heavy pressure-tolerant systems can thrive at extreme depths11–17. Here, inspired by the structure of a deep-sea snailfish15, we develop an untethered soft robot for deep-sea exploration, with onboard power, control and actuation protected from pressure by integrating electronics in a silicone matrix. This self-powered robot eliminates the requirement for any rigid vessel. To reduce shear stress at the interfaces between electronic components, we decentralize the electronics by increasing the distance between components or separating them from the printed circuit board. Careful design of the dielectric elastomer material used for the robot’s flapping fins allowed the robot to be actuated successfully in a field test in the Mariana Trench down to a depth of 10,900 metres and to swim freely in the South China Sea at a depth of 3,224 metres. We validate the pressure resilience of the electronic components and soft actuators through systematic experiments and theoretical analyses. Our work highlights the potential of designing soft, lightweight devices for use in extreme conditions.

Date: 2021
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DOI: 10.1038/s41586-020-03153-z

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