Various
insects can entrap and stabilize air plastrons and bubbles
underwater. When these bubbles interact with surfaces underwater,
they create air capillary bridges that de-wet surfaces and even allow
underwater reversible adhesion. In this study, a robotic arm with
interchangeable three-dimensional (3D)-printed bubble-stabilizing
units is used to create air capillary bridges underwater for manipulation
of small objects. Particles of various sizes and shapes, thin sheets
and substrates of diverse surface tensions, from hydrophilic to superhydrophobic,
can be lifted, transported, placed, and oriented using one- or two-dimensional
arrays of bubbles. Underwater adhesion, derived from the air capillary
bridges, is quantified depending on the number, arrangement, and size
of bubbles and the contact angle of the counter surface. This includes
a variety of commercially available materials and chemically modified
surfaces. Overall, it is possible to manipulate millimeter- to sub-millimeter-scale
objects underwater. This includes cleaning submerged surfaces from
colloids and arbitrary contaminations, folding thin sheets to create
three-dimensional structures, and precisely placing and aligning objects
of various geometries. The robotic underwater manipulator can be used
for automation and control in cell culture experiments, lab-on-chip
devices, and manipulation of objects underwater. It offers the ability
to control the transport and release of small objects without the
need for chemical adhesives, suction-based adhesion, anchoring devices,
or grabbers.