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Nevertheless, factors influencing sampling procedures have not been extensively described, and selected strategies mostly depend on pilots\u2019 and researchers\u2019 experience. We interviewed 17 researchers and remotely operated vehicle (ROV) technical operators, through a formal questionnaire or in-person interviews, to collect evidence of sampling procedures based on their direct field experience. We methodologically analyzed sampling procedures to extract single basic actions (called atomic manipulations). Available equipment, environment and species-specific features strongly influenced the manipulative choices. We identified a list of functional and technical requirements for the development of novel end-effectors for marine sampling. Our results indicate that the unstructured and highly variable deep-sea environment requires a versatile system, capable of robust interactions with hard surfaces such as pushing or scraping, precise tuning of gripping force for tasks such as pulling delicate organisms away from hard and soft substrates, and rigid holding, as well as a mechanism for rapidly switching among external tools.<\/jats:p>","DOI":"10.3390\/s22041471","type":"journal-article","created":{"date-parts":[[2022,2,14]],"date-time":"2022-02-14T20:58:03Z","timestamp":1644872283000},"page":"1471","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Marine Robotics for Deep-Sea Specimen Collection: A Taxonomy of Underwater Manipulative Actions"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2999-1795","authenticated-orcid":false,"given":"Angela","family":"Mazzeo","sequence":"first","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Scuola Superiore Sant\u2019Anna, 56127 Pisa, Italy"},{"name":"Stazione Zoologica Anton Dohrn (SZN), 80121 Naples, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1484-8219","authenticated-orcid":false,"given":"Jacopo","family":"Aguzzi","sequence":"additional","affiliation":[{"name":"Stazione Zoologica Anton Dohrn (SZN), 80121 Naples, Italy"},{"name":"Instituto de Ciencias del Mar (ICM)\u2014Consejo Superior de Investigaciones Cient\u00edficas (CSIC), 08003 Barcelona, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marcello","family":"Calisti","sequence":"additional","affiliation":[{"name":"Lincoln Institute for Agri-Food Technology, University of Lincoln, Lincoln LN6 7TS, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6049-4506","authenticated-orcid":false,"given":"Simonepietro","family":"Canese","sequence":"additional","affiliation":[{"name":"Stazione Zoologica Anton Dohrn (SZN), 80121 Naples, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5420-8868","authenticated-orcid":false,"given":"Michela","family":"Angiolillo","sequence":"additional","affiliation":[{"name":"Stazione Zoologica Anton Dohrn (SZN), 80121 Naples, Italy"},{"name":"Istituto Superiore per la Protezione e la Ricerca Ambientale (ISPRA), 00144 Rome, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4806-0040","authenticated-orcid":false,"given":"A. Louise","family":"Allcock","sequence":"additional","affiliation":[{"name":"Ryan Institute and School of Natural Sciences, NUI Galway, H91 TK33 Galway, Ireland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fabrizio","family":"Vecchi","sequence":"additional","affiliation":[{"name":"Stazione Zoologica Anton Dohrn (SZN), 80121 Naples, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9477-0062","authenticated-orcid":false,"given":"Sergio","family":"Stefanni","sequence":"additional","affiliation":[{"name":"Stazione Zoologica Anton Dohrn (SZN), 80121 Naples, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2135-0707","authenticated-orcid":false,"given":"Marco","family":"Controzzi","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Scuola Superiore Sant\u2019Anna, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Scuola Superiore Sant\u2019Anna, 56127 Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,2,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"219","DOI":"10.1007\/978-3-319-03017-3_11","article-title":"Design of Artificial Hands: A Review","volume":"Volume 95","author":"Controzzi","year":"2014","journal-title":"The Human Hand as an Inspiration for Robot Hand Development"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"147","DOI":"10.3389\/frobt.2019.00147","article-title":"Hands in the Real World","volume":"6","author":"Negrello","year":"2020","journal-title":"Front. 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