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<p>This study focuses on the design, development, and testing of a soft robot that emulates the contraction pattern of the <i>Craspedacusta sowerbyi</i> jellyfish, which has been analyzed using image processing techniques. This prototype is mainly composed of a 20.4 cm diameter silicone body that possesses a set of backbone structures supporting a pair of braided Shape Memory Alloy wires that, once activated, produce a change in the shape of the body. Each pair of braided wires provides agonist–antagonist motion; the first has a 1.4 mm diameter and produces a bending of 2.3 cm in the backbone structure that generates the contraction of the jellyfish bell; when the second wires, which possess a 1&#xa0;mm diameter, are activated, the bell of the jellyfish expands by changing the backbone structure to a straight shape. The implementation of the contraction pattern is achieved through the sequential activation of the braided wires using electric relays; this pattern takes 10&#xa0;s to execute and provides a motion speed of 15.6 mm/s. The proposed architecture for the jellyfish robot allows for a smooth shape change that generates underwater motion without creating vibrations that affect the life forms in the environment and includes a camera to perform exploration tasks.</p>

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Jellyfish Robot Driven by Shape Memory Alloy Actuators

  • 期刊论文

  • 发表日期：

    2026年5月27日

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  • Montserrat Sanchez-Padilla,
  • Gabriel Jaimes-Hernandez,
  • Marco Sandoval-Chileno,
  • Norma Lozada-Castillo,
  • Alberto Luviano-Juarez,
  • Ricardo Cortez

摘要

This study focuses on the design, development, and testing of a soft robot that emulates the contraction pattern of the Craspedacusta sowerbyi jellyfish, which has been analyzed using image processing techniques. This prototype is mainly composed of a 20.4 cm diameter silicone body that possesses a set of backbone structures supporting a pair of braided Shape Memory Alloy wires that, once activated, produce a change in the shape of the body. Each pair of braided wires provides agonist–antagonist motion; the first has a 1.4 mm diameter and produces a bending of 2.3 cm in the backbone structure that generates the contraction of the jellyfish bell; when the second wires, which possess a 1 mm diameter, are activated, the bell of the jellyfish expands by changing the backbone structure to a straight shape. The implementation of the contraction pattern is achieved through the sequential activation of the braided wires using electric relays; this pattern takes 10 s to execute and provides a motion speed of 15.6 mm/s. The proposed architecture for the jellyfish robot allows for a smooth shape change that generates underwater motion without creating vibrations that affect the life forms in the environment and includes a camera to perform exploration tasks.