Search Results (127)

To enhance the flexibility and adaptability of underwater robots in complex environments, this paper designs an octopus-inspired soft underwater robot capable of both bipedal walking and multi-arm swimming. The robot features a rigid–flexible coupling structure consisting of a head module and eight rope-driven soft tentacles and integrates buoyancy adjustment and center-of-gravity balancing systems to achieve stable posture control in both motion modes. Based on the octopus’s bipedal walking and multi-arm swimming mechanisms, this study formulates gait generation strategies for each mode. In walking mode, the robot achieves underwater linear movement, turning, and in-place rotation through coordinated tentacle actuation; in swimming mode, flexible three-dimensional propulsion is realized via synchronous undulatory gaits. Experimental results demonstrate the robot’s peak thrust of 14.1 N, average swimming speed of 8.6 cm/s, and maximum speed of 15.1 cm/s, validating the effectiveness of the proposed structure and motion control strategies. This research platform offers a promising solution for adaptive movement and exploration in unstructured underwater environments. Full article

RhoA (Ras homolog A) is a prominent member of the Rho GTPase family, playing a key role in various cellular processes such as cytoskeletal dynamics, cell migration, and immune responses. However, its function in red swamp crayfish remains unclear. In this study, it is proposed that RhoA may regulate the innate immune response in P. clarkii. The gene was fully characterized as PcRhoA in P. clarkii. The results showed that the open reading frame (ORF) of PcRhoA is 663 bp, encoding a 220-amino acid protein with a conserved Rho domain of 174 amino acids. Phylogenetic analysis placed PcRhoA close to Cherax quadricarinatus RhoA. RT-qPCR analysis revealed high expression levels of the PcRhoA gene in the hepatopancreas, muscle, heart, ovary, and stomach, with lower expression in the blood, intestine, gills, and tentacle gland. Furthermore, PcRhoA mRNA transcript was significantly upregulated in the intestine following LPS and Poly I:C challenges. Knockdown of PcRhoA suppressed the expression of downstream genes in the immune signaling pathway. These results indicate that PcRhoA appears to play a pivotal role in regulating the immune response of crayfish. Full article

To overcome the limitations in maneuverability and adaptability of traditional underwater vehicles, a novel hybrid-actuated, multimodal cephalopod-inspired robot is proposed. This robot innovatively integrates a hybrid drive system wherein sinusoidal undulating fins provide primary propulsion and steering, water-flapping tentacles offer auxiliary burst propulsion, and a gear-and-rack center-of-gravity (CoG) adjustment module modulates the pitch angle to enable depth control through hydrodynamic lift during forward motion. The effectiveness of the design was validated through a series of experiments. Thrust tests demonstrated that the undulating fin thrust scales quadratically with oscillation frequency, aligning with hydrodynamic theory. Mobility experiments confirmed the multi-degree-of-freedom control of the robot, demonstrating effective diving and surfacing via the CoG module and high maneuverability, achieving a turning radius of approximately 15 cm through differential fin control. Furthermore, field trials in an outdoor artificial lake with a depth of less than 1 m validated its environmental robustness. These results confirm the versatile maneuvering capabilities of the robot and its robust adaptability to confined and shallow-water environments, presenting a novel platform for complex underwater observation tasks. Full article

Soft robotics provides compliance, safe interaction, and adaptability that rigid systems cannot easily achieve. The octopus offers a powerful biological model, combining reversible suction adhesion, continuum arm motion, and reliable performance in wet environments. This review examines recent octopus-inspired soft grippers through three functional dimensions: structural and sensing devices, control strategies, and AI-driven applications. We summarize suction-cup geometries, tentacle-like actuators, and hybrid structures, together with optical, triboelectric, ionic, and deformation-based sensing modules for contact detection, force estimation, and material recognition. We then discuss control frameworks that regulate suction engagement, arm curvature, and feedback-based grasp adjustment. Finally, we outline AI-assisted and neuromorphic-oriented approaches that use event-driven sensing and distributed, spike-inspired processing to support adaptive and energy-conscious decision-making. By integrating developments across structure, sensing, control, and computation, this review describes how octopus-inspired grippers are advancing from morphology-focused designs toward perception-enabled and computation-aware robotic platforms. Full article

Nemopilema nomurai is a species of common large toxic jellyfish in China seas, and its tentacle tissues contain various types of nematocysts. However, the correlation between the morphology and function of nematocysts still remains unclear. In this study, we first obtained two monomorphic nematocysts with high-purity from N. nomurai, namely Anisorhizas and O-isorhizas, by density gradient centrifugation: the Anisorhizas is small and rod-shaped and the O-isorhizas is larger and spherical. Upon deionized water stimulation, O-isorhizas exhibited a stronger discharge capability than Anisorhizas. The nematocyst contents of Anisorhizas (AnC) and O-isorhizas (OnC) were extracted separately, and their composition and bioactivities were analyzed simultaneously. The protein bands by SDS-PAGE revealed similar distributions in AnC and OnC, except that the protein band distribution in OnC was more extensive. OnC showed stronger cytotoxicity, hemolytic activity, metalloprotease activity, and serine protease activity than AnC. In contrast, AnC exhibited a higher antioxidant activity and significant proinflammatory activity. Both AnC and OnC exhibited antimicrobial activities against certain marine pathogenic Vibrios. These results suggest that O-isorhizas, with the larger capsule capability, stronger discharge ability and toxicity, likely plays a major role in inducing toxic effects and tissue damage, while Anisorhizas, being smaller and less toxic, may undertake preferentially other functions, such as synergistic predation, environmental stress adaptation, and energy balance maintenance. This study provides insights into the morpho-functional relationship between various types of nematocysts, and also lays a foundation for further exploration of the functional diversity of nematocysts and the mechanisms underlying jellyfish envenomation. Full article

We evaluate tactile-first robotic traversal on the Department of Homeland Security (DHS) figure-8 mobility test using a two-way repeated-measures design across various algorithms (three tactile policies—M1 reactive, M2 terrain-weighted, M3 memory-augmented; a monocular camera baseline, CB-V; a tactile histogram baseline, T-VFH; and an optional tactile-informed replanner, T-D* Lite) and lighting conditions (Indoor, Outdoor, and Dark). The platform is the custom-built Eleven robot—a quadruped integrating a joint-mounted tactile tentacle with a tip force-sensitive resistor (FSR; Walfront 9snmyvxw25, China; 0–10 kg range, ≈0.1 N resolution @ 83 Hz) and a woven Galvorn carbon-nanotube (CNT) yarn for proprioceptive bend sensing. Control and sensing are fully wireless via an ESP32-S3, Arduino Nano 33 BLE, Raspberry Pi 400, and a mini VESC controller. Across 660 trials, the tactile stack maintained ∼21 ms (p50) policy latency and mid-80% success across all lighting conditions, including total darkness. The memory-augmented tactile policy (M3) exhibited consistent robustness relative to the camera baseline (CB-V), trailing by only ≈3–4% in Indoor and ≈13–16% in Outdoor and Dark conditions. Pre-specified, two one-sided tests (TOSTs) confirmed no speed equivalence in any M3↔CB-V comparison. Unlike vision-based approaches, tactile-first traversal is invariant to illumination and texture—an essential capability for navigation in darkness, smoke, or texture-poor, confined environments. Overall, these results show that a tactile-first, memory-augmented control stack achieves lighting-independent traversal on DHS benchmarks while maintaining competitive latency and success, trading modest speed for robustness and sensing independence. Full article

Background: Premature ovarian insufficiency (POI) poses a significant challenge for women. The effects of Cucumaria frondosa tentacles hydrolysates (CFTH) on POI remain to be fully elucidated. Purpose: This study aimed to determine whether CFTH exerts a beneficial effect on ovarian function using a POI mouse model and to investigate the underlying mechanisms of action. Methods: In this study, we characterized the amino acid composition and physicochemical properties of CFTH. The POI model was established by administering 100 mg/kg of cyclophosphamide (CP). We assessed the regulation of the estrous cycle, hormone levels, ovarian cell apoptosis, and oxidative stress markers in POI mice. Differences in ovarian and uterine morphology among the different groups were observed. Furthermore, metabolomics analysis was employed to explore potential mechanisms. Results: CFTH treatment reversed the dysregulation of the estrous cycle and hormone levels. TUNEL analysis revealed that CFTH treatment significantly reduced apoptosis in granulosa cells and altered the expression levels of apoptosis-related genes at the mRNA level. Additionally, CFTH significantly increased superoxide dismutase activity and decreased malondialdehyde levels, thereby mitigating oxidative stress. Metabolomics analysis suggested that CFTH may ameliorate ovarian dysfunction by regulating steroid biosynthesis and the cGMP-PKG signaling pathway. Conclusions: These findings suggest that CFTH may serve as an effective strategy for alleviating POI. Further research is warranted to verify the long-term safety and effectiveness of CFTH in humans. Full article

Inflammatory bowel disease continues to pose substantial therapeutic challenges in modern gastroenterology. This study systematically evaluated the anti-colitis efficacy of Cucumaria frondosa tentacles hydrolysates (CFTHs) using a dextran sulfate sodium (DSS)-induced murine colitis model. Characterized by enhanced stability and solubility with molecular weights below 1000 Da, administration of CFTHs demonstrated a significant mitigation in colitis pathology. Therapeutic outcomes included an improved splenic index, attenuated colonic mucosal damage, and substantial decreases in serum pro-inflammatory cytokines. Relative to the DSS group, the MPO value in the CFTHs-H group decreased by 27.6%, and the IL-6 value exhibited a reduction of 33%. Metagenomic profiling revealed that CFTHs mediated gut microbiota modulation, particularly the enrichment of beneficial Bacteroidetes and suppression of pro-inflammatory Proteobacteria. Metabolomic analysis identified elevated colonic concentrations of anti-inflammatory metabolites such as gamma-linolenic acid and prostaglandin I2, suggesting a microbiome–metabolome crosstalk in the therapeutic mechanism. These multi-omics findings in a murine model suggest that CFTHs may represent a promising candidate for future studies as a nutraceutical intervention for inflammatory bowel disorder. This intervention may operate through mechanisms that include simultaneous immunomodulation, microbiota restoration, and metabolic reprogramming. Full article

Allograft inflammatory factor-1 (AIF1) is a conserved calcium-binding protein involved in inflammatory and neuro-immune responses and expressed in Pomacea canaliculata (Pc-AIF1) during cephalic tentacle regeneration. Here, we investigated the expression and distribution of Pc-AIF1 in control conditions and during cephalic tentacle regeneration. A transcriptomic analysis of 315 RNA-seq datasets revealed maximal Pc-AIF1 expression in circulating hemocytes and hemocyte-rich tissues. Pc-AIF1 was also highly expressed in neural ganglia. Fluorescence in situ hybridization (FISH) evidenced Pc-AIF1 in circulating hemocytes and in the phagocytic hemocyte aggregates in the posterior kidney. qPCR showed the constitutive expression of Pc-AIF1 in cerebral ganglia. FISH experiments showed Pc-AIF1-positive cells within the cephalic tentacle blastema at 24 h post-amputation (hpa). Even if the amputation left them untouched, both the ipsilateral and contralateral cerebral ganglia increased Pc-AIF1 expression until 48 hpa. Immunocytochemical experiments evidenced positive cells to RCA120 (a microglial marker in mammals) among circulating hemocytes, in the connective tissue surrounding the cerebral ganglia, and within the regenerating tentacles. These findings suggest that Pc-AIF1 is a neuro-immune marker constitutively expressed in hemocyte populations and neural tissues; it is associated with the immediate hemocyte response to wounding and the neuro-immune interplay during the regeneration of sensory organs. Full article

Inspired by the free swing of coral tentacles driven by water currents to actively repel microbial attachment, we have identified a unique physical anti-fouling strategy: coral “swinging effect” anti-fouling. Taking the fleshy soft coral (Sarcophyton trocheliophorum) as an example, its surface is covered with numerous soft tentacles. These coral tentacles utilize the force of water current fluctuations to freely sway, resembling a “feather duster” waving to repel microorganisms attempting to settle and establish themselves. Based on this characteristic, this study delves into the living habits of corals, observing the expansion and contraction cycles of their tentacles. Simultaneously, simulations of the anti-fouling performance of coral tentacles were conducted. It demonstrates that the “swinging effect” of the tentacles can effectively prevent the attachment of fouling organisms. Furthermore, this study uses S. trocheliophorum as a biomimetic prototype to design and prepare an artificial coral-mimic substrate (ACMS). It employs the common marine Gram-negative bacterium Paracoccus pantotrophus as a microbial sample to test anti-fouling performance in both pure static water environments and low-flow water environments. The results showed that the 13 mm-long ACMS could bend and overlap the surface of the rear tentacles to the greatest extent under the unidirectional scouring action of low-speed water flow (3.5 m/s), forming an anti-fouling protective layer. Additionally, the “swinging effect” phenomenon generated by the tentacles under water flow scouring demonstrated excellent anti-fouling effects. This study not only provides further evidence for research on coral antifouling performance but also offers new concepts and ideas for antifouling strategies in low-flow water environments, such as stationary ships in ports and underwater infrastructure facilities at docks. Full article

The barrel jellyfish (Rhizostoma pulmo), like other cnidarians, shows cnidocytes containing cnidae, responsible for the jellyfish’s stinging properties. The sting of R. pulmo can cause contact dermatitis or urticaria and even systemic symptoms. Recent studies have identified stinging-cell structures in the mucous secretion released in the water column by Cassiopea xamachana, belonging to the same order as R. pulmo. The present paper verifies the release of stinging-cell structures in the water by R. pulmo and reports the case of two 17-year-old adolescents (one male and one female) who were affected by epidermal rashes consistent with the irritating sensations of stinging water. The reaction happened twice in the Ionian Sea; the patients were in proximity to R. pulmo but, on both occasions, there had been absolutely no direct contact with the jellyfish’s tentacles. To test the hypothesis of stinging water caused by R. pulmo, samples of sea water and mucous harvested in close proximity to a living jellyfish were taken and analyzed under a microscope at different magnifications. The microscopic analysis showed the presence of free and aggregated nematocysts in both the samples of water and mucous. It is likely that the free and aggregated nematocysts observed were discharged in the water by the jellyfish and were dispersed by water currents that led them to come into contact with the patients’ skin. At present, it is not known what predisposes humans to the perception of stinging water, and it is reasonable to affirm that caution should be advised for people with an allergic history when entering the water in the presence of jellyfish. Further investigations are required to better understand both the pathophysiological pathways underlying the stinging water phenomenon and the minimum concentration of urticating elements that is able to trigger the onset of stinging water. Full article

A new species in a new family and genus of sea anemone, Discoactis tritentaculata fam. gen. and sp. nov., was discovered at several localities around Japan. These anemones were indicated to belong to the superfamily Actinostoloidea by phylogenetic analyses. However, the specimens have flat, disc-like bodies; triplet tentacles on the oral disc; endocoels without tentacles; 10 macrocnemes in the column; and numerous microcnemes only in the aboral end. These features are unique among not only Actinostoloidea but also sea anemones in general, and thus they could not be accommodated into any existing families and genera in Actinostoloidea. Therefore, we establish the new family Discoactinidae and the new genus Discoactis for this species of anemone. Our phylogenetic analyses also suggested that the family Capneidae, of which the phylogenetic position has not been certainly convinced yet, also should be a member of Actinostoloidea, and thus we revised its placement and discussed the diagnosis of the superfamily. With these results, the superfamily Actinostoloidea now accommodates eight families. Full article

This article explores the transformative advances in soft machines, where biology, materials science, and engineering have converged. We discuss the remarkable adaptability and versatility of soft machines, whose designs draw inspiration from nature’s elegant solutions. From the intricate movements of octopus tentacles to the resilience of an elephant’s trunk, nature provides a wealth of inspiration for designing robots capable of navigating complex environments with grace and efficiency. Central to this advancement is the ongoing research into bioinspired materials, which serve as the building blocks for creating soft machines with lifelike behaviors and adaptive capabilities. By fostering collaboration and innovation, we can unlock new possibilities in soft machines, shaping a future where robots seamlessly integrate into and interact with the natural world, offering solutions to humanity’s most pressing challenges. Full article

Enzymatic catalysis has gained significant attention in green chemistry due to its high specificity and efficiency under mild conditions. However, challenges related to enzyme immobilization and spatial control often limit its practical applications. In this work, we report a Marangoni flow-driven strategy to fabricate a biomimetic jellyfish-like hydrogel with tunable tentacle-like structures. The formation process occurs entirely in an aqueous system without organic solvents or post-treatment, enabling the construction of ultra-thin, free-standing hydrogels through spontaneous interfacial self-assembly. The resulting structure exhibits high surface-area geometry and excellent biocompatibility, providing a versatile platform for localized enzyme loading. This method offers a simple and scalable route for engineering soft materials with complex morphologies, and expands the design space for bioinspired hydrogel systems. Full article

Cnidarian jellyfish (Medusozoa) comprise approximately 3800 known species which play important roles for marine ecosystem. This study aimed to understand the diversity of cnidarian jellyfish and symbiosis among marine organisms. The taxonomy of the family Zancleidae (Hydrozoa, Anthoathecata) has been problematic because of the limited differences in morphological characteristics between species. This family comprises approximately 40 species belonging to four genera: Apatizanclea, Halocoryne, Zanclea, and Zanclella. In this study, we describe a new species of hydromedusa belonging to the family Zancleidae found in Japanese waters. Zanclea innocens sp. nov. can be distinguished from other Zanclea species by the presence of nematocyst clusters on the exumbrella, slightly thickened apical projection, four narrow exumbrellar nematocyst pouches on ridges often reaching the umbrella apex, four marginal bulbs, and two tentacles. Additionally, Zanclea medusopolypata was recorded for the first time in Japanese waters. This paper provides taxonomic keys for the identification of species in the genus Zanclea. Full article