Octopus Arm Research Articles

How to Harness the Dynamics of Soft Body: Timing Based Control of a Simulated Octopus Arm via Recurrent Neural Networks

The aim of this study is to explore a control architecture that facilitates the control of a soft and flexible octopus-like arm. Inspired by the division of functionality between the central and peripheral nervous systems of a real octopus, we note that the important requirement for control is not to regulate the arm muscles one by one but rather to control them collectively with the appropriate timing. In order to realize this timing-based control, we propose an architecture that is equipped with a recurrent neural network (RNN) and then we determine the performance of its reaching behavior. To train the network, we introduce an incremental learning strategy that is capable of taking the body's dynamics into account. As a result, we show that the RNN can successfully accomplish the reaching behavior by exploiting the physical dynamics of the arm due to the timing-based control.

Design concept and validation of a robotic arm inspired by the octopus

The octopus is an invertebrate sea animal, considered as an interesting model of inspiration in robotics, due to its high dexterity, variable stiffness, and very complex behaviours, if compared with its position in the evolutionary scale. This paper reports the design of an artificial muscular hydrostat for developing an octopus-like robot. The experimental study consists of the fabrication of a set of mock-ups demonstrating some of the key features and patterns of movement of the octopus arm. The experimental trials performed with the different mock-ups demonstrated the suitability of the silicone materials used and the patterns of actuators activation to replicate the typical octopus movements of elongation, shortening, bending, and reaching. They also confirm that control is simplified by the arrangement of muscles as well as by the mechanical properties of the muscular hydrostat.

Design of a Flexible Bending Biomimetic Octopus Arm Unit with Embedded SMA Wires

This paper discusses a design of a flexible bending biomimetic octopus arm unit. Firstly, bending function of the octopus arm is analyzed. Secondly, the structure of the arm unit driven by shape memory alloy (SMA) is presented which can realize flexible bending. Meanwhile, mechanical model of the arm unit is established to find the proper parameters of the arm unit. Finally, experiments are carried out to demonstrate the feasibility of the structure.

Nearly automatic motion capture system for tracking octopus arm movements in 3D space

Tracking animal movements in 3D space is an essential part of many biomechanical studies. The most popular technique for human motion capture uses markers placed on the skin which are tracked by a dedicated system. However, this technique may be inadequate for tracking animal movements, especially when it is impossible to attach markers to the animal's body either because of its size or shape or because of the environment in which the animal performs its movements. Attaching markers to an animal's body may also alter its behavior. Here we present a nearly automatic markerless motion capture system that overcomes these problems and successfully tracks octopus arm movements in 3D space. The system is based on three successive tracking and processing stages. The first stage uses a recently presented segmentation algorithm to detect the movement in a pair of video sequences recorded by two calibrated cameras. In the second stage, the results of the first stage are processed to produce 2D skeletal representations of the moving arm. Finally, the 2D skeletons are used to reconstruct the octopus arm movement as a sequence of 3D curves varying in time. Motion tracking, segmentation and reconstruction are especially difficult problems in the case of octopus arm movements because of the deformable, non-rigid structure of the octopus arm and the underwater environment in which it moves. Our successful results suggest that the motion-tracking system presented here may be used for tracking other elongated objects.

Design of a biomimetic robotic octopus arm

This paper reports the rationale and design of a robotic arm, as inspired by an octopus arm. The octopus arm shows peculiar features, such as the ability to bend in all directions, to produce fast elongations, and to vary its stiffness. The octopus achieves these unique motor skills, thanks to its peculiar muscular structure, named muscular hydrostat. Different muscles arranged on orthogonal planes generate an antagonistic action on each other in the muscular hydrostat, which does not change its volume during muscle contractions, and allow bending and elongation of the arm and stiffness variation. By drawing inspiration from natural skills of octopus, and by analysing the geometry and mechanics of the muscular structure of its arm, we propose the design of a robot arm consisting of an artificial muscular hydrostat structure, which is completely soft and compliant, but also able to stiffen. In this paper, we discuss the design criteria of the robotic arm and how this design and the special arrangement of its muscular structure may bring the building of a robotic arm into being, by showing the results obtained by mathematical models and prototypical mock-ups.

Tissue Stabilizer Reverse Mounting in Minimally Invasive Direct Coronary Artery Bypass, a Simple Tool in Difficult Times

The simple reverse mounting of an Octopus arm over a rib retractor can give more arm length by up to 5 cm inside the chest cavity which could prove to be very useful in patients with huge chest cavities, i.e. chronic obstructive pulmonary disease, high body mass index, allowing more flexibility and better maneuverability of the stabilizer arm during MIDCAB.

Optimal, Model-Based Design of Soft Robotic Manipulators

Soft robotic manipulators, unlike their rigid-linked counterparts, deform continuously along their lengths similar to elephant trunks and octopus arms. Their excellent dexterity enables them to navigate through unstructured and cluttered environments and to handle fragile objects using whole arm manipulation. This paper develops optimal designs for OctArm manipulators, i.e., multisection, trunklike soft arms. OctArm manipulator design involves the specification of air muscle actuators and the number, length, and configuration of sections that maximize dexterity and load capacity for a given maximum actuation pressure. A general method of optimal design for OctArm manipulators using nonlinear models of the actuators and arm mechanics is developed. The manipulator model is based on Cosserat rod theory, accounts for large curvatures, extensions, and shear strains, and is coupled to the nonlinear Mooney–Rivlin actuator model. Given a dexterity constraint for each section, a genetic algorithm-based optimizer maximizes the arm load capacity by varying the actuator and section dimensions. The method generates design rules that simplify the optimization process. These rules are then applied to the design of pneumatically and hydraulically actuated OctArm manipulators using 100psi and 1000psi maximum pressures, respectively.

The bird kraken: octopus preys on a sea bird at an oceanic island in the tropical West Atlantic

The legendary kraken, a giant cephalopod that emerged from the depths to attack ships and devour the sailors is reincarnated here in a miniature version. We describe an oceanic island-dwelling octopus ( Octopus sp.nov.) preying on a sea bird, the brown noddy ( Anous stolidus ) in the tropical West Atlantic. While poised on a tide pool rim the bird was quickly seized by one or two of the octopus's arms and dragged underwater, where the octopus was lying in ambush. We suggest that this prey type hunting occurs occasionally, even if rarely documented. Catching birds may have originated from ambushing mobile and relatively large animals such as Sally Lightfoot crabs ( Grapsus grapsus ), one prey of octopuses hunting in tide pools at oceanic islands in the tropical West Atlantic.

Inspiration, simulation and design for smart robot manipulators from the sucker actuation mechanism of cephalopods

Octopus arms house 200–300 independently controlled suckers that can alternately afford an octopus fine manipulation of small objects and produce high adhesion forces on virtually any non-porous surface. Octopuses use their suckers to grasp, rotate and reposition soft objects (e.g., octopus eggs) without damaging them and to provide strong, reversible adhesion forces to anchor the octopus to hard substrates (e.g., rock) during wave surge. The biological ‘design’ of the sucker system is understood to be divided anatomically into three functional groups: the infundibulum that produces a surface seal that conforms to arbitrary surface geometry; the acetabulum that generates negative pressures for adhesion; and the extrinsic muscles that allow adhered surfaces to be rotated relative to the arm. The effector underlying these abilities is the muscular hydrostat. Guided by sensory input, the thousands of muscle fibers within the muscular hydrostats of the sucker act in coordination to provide stiffness or force when and where needed. The mechanical malleability of octopus suckers, the interdigitated arrangement of their muscle fibers and the flexible interconnections of its parts make direct studies of their control challenging. We developed a dynamic simulator (ABSAMS) that models the general functioning of muscular hydrostat systems built from assemblies of biologically constrained muscular hydrostat models. We report here on simulation studies of octopus-inspired and artificial suckers implemented in this system. These simulations reproduce aspects of octopus sucker performance and squid tentacle extension. Simulations run with these models using parameters from man-made actuators and materials can serve as tools for designing soft robotic implementations of man-made artificial suckers and soft manipulators.

Analyzing Octopus Movements Using Three-Dimensional Reconstruction

Octopus arms, as well as other muscular hydrostats, are characterized by a very large number of degrees of freedom and a rich motion repertoire. Over the years, several attempts have been made to elucidate the interplay between the biomechanics of these organs and their control systems. Recent developments in electrophysiological recordings from both the arms and brains of behaving octopuses mark significant progress in this direction. The next stage is relating these recordings to the octopus arm movements, which requires an accurate and reliable method of movement description and analysis. Here we describe a semiautomatic computerized system for 3D reconstruction of an octopus arm during motion. It consists of two digital video cameras and a PC computer running custom-made software. The system overcomes the difficulty of extracting the motion of smooth, nonrigid objects in poor viewing conditions. Some of the trouble is explained by the problem of light refraction in recording underwater motion. Here we use both experiments and simulations to analyze the refraction problem and show that accurate reconstruction is possible. We have used this system successfully to reconstruct different types of octopus arm movements, such as reaching and bend initiation movements. Our system is noninvasive and does not require attaching any artificial markers to the octopus arm. It may therefore be of more general use in reconstructing other nonrigid, elongated objects in motion.

The arrangement and function of octopus arm musculature and connective tissue

The morphology of the musculature and connective tissues of the arms of Octopus bimaculoides was analyzed with light microscopy. We also studied O. briareus and O. digueti, which possess relatively more elongate and less elongate arms, respectively. The morphology of the arms was found to be remarkably uniform among species. The arms consist of a densely packed three-dimensional arrangement of muscle fibers and connective tissue fibers surrounding a central axial nerve cord. Three primary muscle fiber orientations were observed: 1) transverse muscle fibers oriented in planes perpendicular to the long axis of the arm; 2) longitudinal muscle fibers oriented parallel to the long axis; and 3) oblique muscle fibers arranged in helixes around the arm. The proportion of the arm cross section occupied by each of these muscle fiber groups (relative to the total cross sectional area of the musculature) remains constant along the length of the arm, even though the arm tapers from base to tip. A thin circular muscle layer wraps the arm musculature on the aboral side only. Much of this musculature has its origin and insertion on several robust connective tissue sheets including a layer surrounding the axial nerve cord and crossed-fiber connective tissue sheets located on the oral and the aboral sides of the arm. An additional thin layer of connective tissue wraps the arm musculature laterally and also serves as a site of origin and insertion of some of the muscle fibers. The fibers of the oral and aboral crossed-fiber connective tissue sheets are arranged oblique to the long axis of the arm with the same fiber angle as the oblique muscle layers that originate and insert on the sheets. The oblique muscle layers and the crossed-fiber connective tissue sheets thus form composite right- and left-handed helical fiber arrays. Analysis of arm morphology from the standpoint of biomechanics suggests that the transverse musculature is responsible for elongation of the arms, the longitudinal musculature is responsible for shortening, and the oblique muscle layers and associated connective tissues create torsion. Arm bending may involve unilateral contraction of longitudinal muscle bundles in combination with resistance to arm diameter increase due to contraction of the transverse musculature or passive stiffness of the arm tissues. The arms may also be bent by a combination of decrease in diameter due to contraction of the transverse musculature and maintenance of constant length on one side of the arm by unilateral activity of longitudinal muscle bundles. An increase in flexural stiffness of the arm may be achieved by cocontraction of the transverse and longitudinal muscle. Torsional stiffness may be increased by simultaneous contraction of both the right- and left-handed oblique muscle layers.

Patterns of Motor Activity in the Isolated Nerve Cord of the Octopus Arm

The extremely flexible octopus arm provides a unique opportunity for studying movement control in a highly redundant motor system. We describe a novel preparation that allows analysis of the peripheral nervous system of the octopus arm and its interaction with the muscular and mechanosensory elements of the arm's intrinsic muscular system. First we examined the synaptic responses in muscle fibers to identify the motor pathways from the axial nerve cord of the arm to the surrounding musculature. We show that the motor axons project to the muscles via nerve roots originating laterally from the arm nerve cord. The motor field of each nerve is limited to the region where the nerve enters the arm musculature. The same roots also carry afferent mechanosensory information from the intrinsic muscle to the axial nerve cord. Next, we characterized the pattern of activity generated in the dorsal roots by electrically stimulating the axial nerve cord. The evoked activity, although far reaching and long lasting, cannot alone account for the arm extension movements generated by similar electrical stimulation. The mismatch between patterns of activity in the isolated cord and in an intact arm may stem from the involvement of mechanosensory feedback in natural arm extension.

Octopus arm choice is strongly influenced by eye use

This study aims to investigate the octopus’ eye and arm coordination and raises the question if visual guidance determines choice of arm use. Octopuses possess eight seemingly identical arms but have recently been reported to show a preference as to which arm they use to initiate contact with objects. These animals also exhibit lateralized eye use, therefore, a connection between eye and arm preference seems possible. Seven Octopus vulgaris were observed during approach, contact initiation and exploration of plastic objects that were positioned on three different levels in the water column. The subjects most commonly used an arm to initiate contact with an object that was in a direct line between the eye used to look at the object, and the object itself. This indicates that choice of arm use is spatially rather opportunistic when depending on visual guidance. Additionally, first contact with an object was usually established by the central third of the arm and in arm contact sequences neighboring arms were the most likely to follow an arm already touching the object. Although results point towards strong eye/arm coordination, we did not find lateralized behavior in this experiment. Results are discussed from a neuro-anatomical, behavioral and ecological perspective.

Octopuses Use a Human-like Strategy to Control Precise Point-to-Point Arm Movements

One of the key problems in motor control is mastering or reducing the number of degrees of freedom (DOFs) through coordination. This problem is especially prominent with hyper-redundant limbs such as the extremely flexible arm of the octopus. Several strategies for simplifying these control problems have been suggested for human point-to-point arm movements. Despite the evolutionary gap and morphological differences, humans and octopuses evolved similar strategies when fetching food to the mouth. To achieve this precise point-to-point-task, octopus arms generate a quasi-articulated structure based on three dynamic joints. A rotational movement around these joints brings the object to the mouth . Here, we describe a peripheral neural mechanism-two waves of muscle activation propagate toward each other, and their collision point sets the medial-joint location. This is a remarkably simple mechanism for adjusting the length of the segments according to where the object is grasped. Furthermore, similar to certain human arm movements, kinematic invariants were observed at the joint level rather than at the end-effector level, suggesting intrinsic control coordination. The evolutionary convergence to similar geometrical and kinematic features suggests that a kinematically constrained articulated limb controlled at the level of joint space is the optimal solution for precise point-to-point movements.

A finite element simulation scheme for biological muscular hydrostats

An explicit finite element scheme is developed for biological muscular hydrostats such as squid tentacles, octopus arms and elephant trunks. The scheme is implemented by embedding muscle fibers in finite elements. In any given element, the fiber orientation can be assigned arbitrarily and multiple muscle directions can be simulated. The mechanical stress in each muscle fiber is the sum of active and passive parts. The active stress is taken to be a function of activation state, muscle fiber shortening velocity and fiber strain; while the passive stress depends only on the strain. This scheme is tested by simulating extension of a squid tentacle during prey capture; our numerical predictions are in close correspondence with existing experimental results. It is shown that the present finite element scheme can successfully simulate more complex behaviors such as torsion of a squid tentacle and the bending behavior of octopus arms or elephant trunks.

AGILE ANIMALS

An octopus can be a canny customer - by shortening, bending, elongating and twisting its highly dexterous arms it can catch prey, build a shelter and even open jars. The dazzling array of delicate tasks that they can perform is well documented, but how exactly do they do it? Yoram Yekutieli and colleagues at the Hebrew University and Wiezmann Institute of Science in Israel built a series of octopus arm models to help answer how an octopus moves its arms and controls arm movement. The team wanted to find out if the control of the movements in an octopus' arm is as complicated as their dexterity suggests.Octopuses have a dynamic skeleton called a muscular hydrostat, where all the muscles in the limb generate forces in different directions and provide skeletal support. Because the volume of the limb is always maintained, force can be transferred from one set of muscles to another. The range of movements is much greater than a limb made of bone and muscle, which is physically restricted in the range of movements it can make.In the first of two papers, the team built a computer model to describe octopus arm reaching movements. The computer arm was divided up into 20 segments with a constant volume, connected to each other by virtual muscles. The model took into account the forces acting on the arm both internally and externally, including muscle force, gravity and drag. When a live octopus reaches for an object, a bend is created in its arm, usually near the base,which then travels up the arm towards the tip. This is likely to be caused by a wave of muscle activation that propels the bend to the end of the arm. Rather than contracting different sets of muscles out of phase with each other to produce a bend, the team's model suggests that all the muscles in an arm section are activated simultaneously to move the bend along the arm.In the second paper, the team refined the model to investigate the neural signal that causes arm movements and how these movements are coordinated. When the team tested the model with a simple neural signal that caused all of the muscles along the arm to contract, the model arm produced a movement very similar to that of a real octopus arm. They found that by controlling the signal amplitude (i.e. its height) and velocity along the arm, they could make their model re-enact the movements of a real arm. Above a minimum threshold level at which muscles would contract, the team discovered that further increases in the signal amplitude increased the force in the muscles but did not change the kinematics of the model arm's movement. These increased muscle forces mean that the arm is more stable in the face of external forces that could knock it off course.The model indicates that the control of octopus arm movement is very simple and robust and doesn't require complex coordination between different sets of muscles; a simple signal that causes all the muscles to contract can reproduce natural octopus arm movements. Understanding how an octopus produces different movements might aid the design of control systems for flexible robotic arms that need to perform a wide range of octopus-like movements.

Dynamic Model of the Octopus Arm. I. Biomechanics of the Octopus Reaching Movement

The octopus arm requires special motor control schemes because it consists almost entirely of muscles and lacks a rigid skeletal support. Here we present a 2D dynamic model of the octopus arm to explore possible strategies of movement control in this muscular hydrostat. The arm is modeled as a multisegment structure, each segment containing longitudinal and transverse muscles and maintaining a constant volume, a prominent feature of muscular hydrostats. The input to the model is the degree of activation of each of its muscles. The model includes the external forces of gravity, buoyancy, and water drag forces (experimentally estimated here). It also includes the internal forces generated by the arm muscles and the forces responsible for maintaining a constant volume. Using this dynamic model to investigate the octopus reaching movement and to explore the mechanisms of bend propagation that characterize this movement, we found the following. 1) A simple command producing a wave of muscle activation moving at a constant velocity is sufficient to replicate the natural reaching movements with similar kinematic features. 2) The biomechanical mechanism that produces the reaching movement is a stiffening wave of muscle contraction that pushes a bend forward along the arm. 3) The perpendicular drag coefficient for an octopus arm is nearly 50 times larger than the tangential drag coefficient. During a reaching movement, only a small portion of the arm is oriented perpendicular to the direction of movement, thus minimizing the drag force.

Dynamic Model of the Octopus Arm. II. Control of Reaching Movements

The dynamic model of the octopus arm described in the first paper of this 2-part series was used here to investigate the neural strategies used for controlling the reaching movements of the octopus arm. These are stereotypical extension movements used to reach toward an object. In the dynamic model, sending a simple propagating neural activation signal to contract all muscles along the arm produced an arm extension with kinematic properties similar to those of natural movements. Control of only 2 parameters fully specified the extension movement: the amplitude of the activation signal (leading to the generation of muscle force) and the activation traveling time (the time the activation wave takes to travel along the arm). We found that the same kinematics could be achieved by applying activation signals with different activation amplitudes all exceeding some minimal level. This suggests that the octopus arm could use minimal amplitudes of activation to generate the minimal muscle forces required for the production of the desired kinematics. Larger-amplitude signals would generate larger forces that increase the arm's stability against perturbations without changing the kinematic characteristics. The robustness of this phenomenon was demonstrated by examining activation signals with either a constant or a bell-shaped velocity profile. Our modeling suggests that the octopus arm biomechanics may allow independent control of kinematics and resistance to perturbation during arm extension movements.

Characterization and Functionality of Frozen Muscle Protein in Volador (Illexcoindetii), Pota (Todaropsis eblanae), and Octopus (Eledone cirrhosa)

ABSTRACT: Three species of cephalopods: volador (Illex coindetii), pota (Todaropsis eblanae), and octopus (Eledone cirrhosa) were classified according to sex, stage of sexual development, and anatomical zone for characterization and functionality of their muscle proteins. The 3 species exhibited very similar levels of total protein. Octopus mantles and arms contained the least proline and the most hydroxyproline. The highest solubility values in immature pota coincided with the lowest apparent viscosity and emulsifying capacity values. The highest insolubility values observed in octopus coincided with the highest viscosity and emulsifying capacity values. However, in volador which exhibited an intermediate solubility, viscosity was very high and emulsifying capacity was very low.

Comparison of collagen types of arm and mantle muscles of the common octopus ( Octopus vulgaris)

Properties of muscle collagens of arm and mantle of the common octopus, Octopus vulgaris, were compared with regard to molecular species and thermal behaviour. The major collagens were isolated from pepsin-solubilized collagen preparations of these tissues by salt precipitation and were shown, by peptide mapping, to be essentially identical to each other in the triple helical domain. Alpha and beta subunits of the major collagen of the arm, in intact form (not solubilized by pepsin digestion), on electrophoresis, moved more slowly than those of the mantle. The major collagen of the arm showed higher hot-water solubility and lower thermal stability than that from the mantle muscle. These results suggested that there were some structural and functional differences between the major collagens from these tissues although they were genetically identical molecular species. In addition, immunoblot analysis revealed the existence of a minor collagen type, which corresponded to Type SQ-II collagen in decapod molluscs, in both arm and mantle muscles.