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Systematic Review

Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers

1
The BioRobotics Institute, Scuola Superiore Sant’Anna, 56127 Pisa, Italy
2
Department of Excellence in Robotics & AI, Scuola Superiore Sant’Anna, 56127 Pisa, Italy
3
Stazione Zoologica Anton Dohrn (SZN), 80121 Napoli, Italy
4
Instituto de Ciencias del Mar (ICM)—Consejo Superior de Investigaciones Científicas (CSIC), 08003 Barcelona, Spain
5
Lincoln Institute for Agri-Food Technology, University of Lincoln, Lincoln LN6 7TS, UK
*
Author to whom correspondence should be addressed.
These authors contributed equally to this work.
Academic Editor: Antonio M. Pascoal
Sensors 2022, 22(2), 648; https://doi.org/10.3390/s22020648
Received: 19 December 2021 / Revised: 7 January 2022 / Accepted: 10 January 2022 / Published: 14 January 2022
The collection of delicate deep-sea specimens of biological interest with remotely operated vehicle (ROV) industrial grippers and tools is a long and expensive procedure. Industrial grippers were originally designed for heavy manipulation tasks, while sampling specimens requires dexterity and precision. We describe the grippers and tools commonly used in underwater sampling for scientific purposes, systematically review the state of the art of research in underwater gripping technologies, and identify design trends. We discuss the possibility of executing typical manipulations of sampling procedures with commonly used grippers and research prototypes. Our results indicate that commonly used grippers ensure that the basic actions either of gripping or caging are possible, and their functionality is extended by holding proper tools. Moreover, the approach of the research status seems to have changed its focus in recent years: from the demonstration of the validity of a specific technology (actuation, transmission, sensing) for marine applications, to the solution of specific needs of underwater manipulation. Finally, we summarize the environmental and operational requirements that should be considered in the design of an underwater gripper. View Full-Text
Keywords: underwater gripper; ROV gripper; underwater manipulation; underwater end-effector; robotic underwater hands; marine biological sampling underwater gripper; ROV gripper; underwater manipulation; underwater end-effector; robotic underwater hands; marine biological sampling
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MDPI and ACS Style

Mazzeo, A.; Aguzzi, J.; Calisti, M.; Canese, S.; Vecchi, F.; Stefanni, S.; Controzzi, M. Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers. Sensors 2022, 22, 648. https://doi.org/10.3390/s22020648

AMA Style

Mazzeo A, Aguzzi J, Calisti M, Canese S, Vecchi F, Stefanni S, Controzzi M. Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers. Sensors. 2022; 22(2):648. https://doi.org/10.3390/s22020648

Chicago/Turabian Style

Mazzeo, Angela, Jacopo Aguzzi, Marcello Calisti, Simonepietro Canese, Fabrizio Vecchi, Sergio Stefanni, and Marco Controzzi. 2022. "Marine Robotics for Deep-Sea Specimen Collection: A Systematic Review of Underwater Grippers" Sensors 22, no. 2: 648. https://doi.org/10.3390/s22020648

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