{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,22]],"date-time":"2026-04-22T05:15:34Z","timestamp":1776834934817,"version":"3.51.2"},"reference-count":40,"publisher":"American Association for the Advancement of Science (AAAS)","issue":"84","content-domain":{"domain":["www.science.org"],"crossmark-restriction":true},"short-container-title":["Sci. Robot."],"published-print":{"date-parts":[[2023,11,22]]},"abstract":"<jats:p>Octopuses can whip their soft arms with a characteristic \u201cbend propagation\u201d motion to capture prey with sensitive suckers. This relatively simple strategy provides models for robotic grasping, controllable with a small number of inputs, and a highly deformable arm with sensing capabilities. Here, we implemented an electronics-integrated soft octopus arm (E-SOAM) capable of reaching, sensing, grasping, and interacting in a large domain. On the basis of the biological bend propagation of octopuses, E-SOAM uses a bending-elongation propagation model to move, reach, and grasp in a simple but efficient way. E-SOAM\u2019s distal part plays the role of a gripper and can process bending, suction, and temperature sensory information under highly deformed working states by integrating a stretchable, liquid-metal\u2013based electronic circuit that can withstand uniaxial stretching of 710% and biaxial stretching of 270% to autonomously perform tasks in a confined environment. By combining this sensorized distal part with a soft arm, the E-SOAM can perform a reaching-grasping-withdrawing motion across a range up to 1.5 times its original arm length, similar to the biological counterpart. Through a wearable finger glove that produces suction sensations, a human can use just one finger to remotely and interactively control the robot\u2019s in-plane and out-of-plane reaching and grasping both in air and underwater. E-SOAM\u2019s results not only contribute to our understanding of the function of the motion of an octopus arm but also provide design insights into creating stretchable electronics-integrated bioinspired autonomous systems that can interact with humans and their environments.<\/jats:p>","DOI":"10.1126\/scirobotics.adh7852","type":"journal-article","created":{"date-parts":[[2023,11,29]],"date-time":"2023-11-29T18:58:17Z","timestamp":1701284297000},"update-policy":"https:\/\/doi.org\/10.34133\/aaas_crossmark","source":"Crossref","is-referenced-by-count":239,"title":["Octopus-inspired sensorized soft arm for environmental interaction"],"prefix":"10.1126","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6994-6863","authenticated-orcid":true,"given":"Zhexin","family":"Xie","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China."},{"name":"Department of Mechanical Engineering, National University of Singapore, Singapore 117575, Singapore."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1597-1531","authenticated-orcid":true,"given":"Feiyang","family":"Yuan","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2958-9309","authenticated-orcid":true,"given":"Jiaqi","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China."}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-5730-0376","authenticated-orcid":true,"given":"Lufeng","family":"Tian","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5154-7733","authenticated-orcid":true,"given":"Bohan","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China."}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-7840-5204","authenticated-orcid":true,"given":"Zhongqiang","family":"Fu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China."}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-3779-7023","authenticated-orcid":true,"given":"Sizhe","family":"Mao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2093-468X","authenticated-orcid":true,"given":"Tongtong","family":"Jin","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9847-2636","authenticated-orcid":true,"given":"Yun","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China."}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-1246-6648","authenticated-orcid":true,"given":"Xia","family":"He","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2134-7161","authenticated-orcid":true,"given":"Gang","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China."}]},{"given":"Yanru","family":"Mo","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9752-3937","authenticated-orcid":true,"given":"Xilun","family":"Ding","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0885-2067","authenticated-orcid":true,"given":"Yihui","family":"Zhang","sequence":"additional","affiliation":[{"name":"Applied Mechanics Laboratory, Department of Engineering Mechanics, Laboratory of Flexible Electronics Technology, Tsinghua University, Beijing 100084, China."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5248-1043","authenticated-orcid":true,"given":"Cecilia","family":"Laschi","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, National University of Singapore, Singapore 117575, 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