Description: Otherlab and the Faboratory propose that a key component of future NASA robot technology will be continuum joint-based fluidic actuation, valuable for its light weight, low packing volume, inherent shock & vibration isolation, and ability to interact safely with unstructured environments and near humans. Over the course of our Phase I & Phase II projects we have developed such a novel prototype fluidic actuation system by integrating Otherlab's fluidic actuation systems with Faboratory's strain sensors and further developing both. During this Sequential Phase II, we propose to further develop this system for use in relevant space environments. We will hone the designs by exploring ways to tightly integrate the sensors into the actuator's structure and develop sensors and system design methods for better system integration. The result will be well-calibrated, self-contained, daisy-chainable fluidic actuation modules with dedicated electronics and controls. We will build 3 different sizes of continuum joint actuator to explore design tradeoffs in physical scaling. We will characterize their performance across relevant temperature ranges and environmental conditions, and evaluate their ability to perform tasks in planetary and lunar environments. At the end of the project, we will demonstrate the actuation modules performing a variety of functions on an example rover.

Benefits: Future NASA missions will rely on advanced robotic systems to enable both next-generation space exploration and space-based construction tasks. Known lunar environments and new planetary environments will present significant environmental challenges, including wear and tear from lunar fines and liquid contact and immersion. New mission profiles could include drilling for geological samples, sampling from wet environments, performing construction activities, and interacting with nearby astronauts safely.

Operation in wet environments & easy cleanability, combined with light weight and low packing volume, make these systems attractive for outdoor systems with prolonged exposure to water and to cleaning chemicals, e.g. agriculture, or to domestic and commercial cleaning applications. Imperviousness to chemicals make the systems interesting for cleaning liquid or chemical storage containers.