The grasping capability of birds' feet is a hallmark of their evolution, but the mechanics of avian foot function are not well understood. Two evolutionary trends that contribute to the mechanical complexity of the avian foot are the variation in the relative lengths of the phalanges and the subdivision and variation of the digital flexor musculature observed among taxa. We modelled the grasping behaviour of a simplified bird foot in response to the downward and upward forces imparted by carrying and perching tasks, respectively. Specifically, we compared the performance of various foot geometries performing these tasks when actuated by distally inserted flexors only, versus by both distally inserted and proximally inserted flexors. Our analysis demonstrates that most species possess relative phalanx lengths that are conducive to grasps actuated only by a single distally inserted tendon per digit. Furthermore, proximally inserted flexors are often required during perching, but the distally inserted flexors are sufficient when grasping and carrying objects. These results are reflected in differences in the relative development of proximally and distally inserted digital flexor musculature among ‘perching’ and ‘grasping’ taxa. Thus, our results shed light on the relative roles of variation in phalanx length and digit flexor muscle distribution in an integrative, mechanical context.

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We present the design and experimental results for the JPL‐Nautilus Gripper, a 16‐finger highly underactuated microspine gripper for use in the deep ocean. The gripper can grasp objects from 10 to 30 cm in size and anchor to flat and curved rocky surfaces (i.e., cliff faces and seamounts). Laboratory results demonstrated an anchoring capability of greater than 450 N on rough rocks in both shear and normal loading directions. Deployment on the Hercules ROV (remotely operated vehicle) aboard the E/V Nautilus on three deep‐ocean dives verified performance at depths up to to 2,100 m with approximately 100 N loads applied through the ROV's thrusters, including moment loads. The gripper also serves as a development unit for future robotic tools that will include a coring drill in the center of the gripper, as previously demonstrated in non‐ocean environments with microspine grippers. Such a tool will facilitate the collection of geologic samples from the deep ocean using more agile and cost‐effective systems.

Over the course of the COVID-19 pandemic, wastewater surveillance has become a useful tool for describing SARS-CoV-2 prevalence in populations of varying size, from individual facilities (e.g., university residence halls, nursing homes, prisons) to entire municipalities. Wastewater analysis for SARS-CoV-2 RNA requires specialized equipment, expensive consumables, and expert staff, limiting its feasibility and scalability. Further, the extremely labile nature of viral RNA complicates sample transportation, especially in regions with limited access to reliable cold chains. Here, we present a new method for wastewater analysis, termed exclusion-based sample preparation (ESP), that substantially simplifies workflow (at least 70% decrease in time; 40% decrease in consumable usage compared with traditional techniques) by targeting the labor-intensive processing steps of RNA purification and concentration. To optimize and validate this method, we analyzed wastewater samples from residence halls at the University of Kentucky, of which 34% (44/129) contained detectible SARS-CoV-2 RNA. Although concurrent clinical testing was not comprehensive, student infections were identified in the 7 days following a positive wastewater detection in 68% of samples. This pilot study among university residence halls validated the performance and utility of the ESP method, laying the foundation for future studies in regions of the world where wastewater testing is not currently feasible.

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Adding grasping and manipulation capabilities to unconstrained vehicles such as UAVs, AUVs, and small space craft so that they can deliver cargo, grasp and retrieve objects, perch on features in the environment, and even manipulating their environment is an ongoing area of research. However, these efforts have relied heavily on structuring the interaction task and have predominantly utilized existing gripper designs that were not specialized for the platform or task. In this paper, we present a parametric model of a novel underactuated hand design that is composed of prismatic-revolute-revolute joint fingers. This kinematic configuration attempts to minimize disturbance forces to the body of the vehicle while achieving stable grasps on a wide range of objects under significant positional uncertainty. In particular, this paper investigates the impact of various design parameters, including the relative link lengths and force allocation across the three joints, on grasping performance and suggests optimal design parameters for a prototype hand.

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