*3.4.2. Development of a dexterous tentacle-like manipulator using SMA-actuated hydrostats*

Novel design principles and technologies for a new generation of high dexterity soft-bodied robots inspired by the morphology and behavior of the octopus are being developed in the framework of the OCTOPUS-IP project1.

The imitation of the internal muscular structure of octopuses' tentacles is being studies and imitated. Longitudinal cables and transverse SMA imitate the arrangement of muscle fibers, controlling contractions as soft actuators within the robot arm [42]. Moreover, this manipulator is surrounded by a sensitive skin, with contact sensors embedded into silicone rubber, equipped with passive suckers that allow the grasping of objects. SMA actuators are used to change the section of the tentacle in several locations, inducing its bending.

**Figure 11.** The SMA-based tentacle (See http://www.octopusproject.eu/).

## *3.4.3. Development of a Shape-Memory-Alloy actuated biomimetic hydrofoil*

The development and testing of a biomimetic active hydrofoil using Shape Memory Alloy (SMA) actuators is presented in [16]. This work describes the development and testing of a six-segment demonstration foil and the control schemes used.
