Underwater soft robots are typically constructed from soft and flexible materials, which enable them to adapt to aquatic environments where the terrain can be complex. They are often inspired by soft-bodied aquatic animals and can be used for a range of tasks, such as underwater exploration, environmental monitoring, and rescue operations. However, the design of these robots presents significant challenges, as it requires soft materials and systems that can withstand the harsh and varied conditions of ocean environments. This review delves into the physics of soft materials and outlines the constitutive models for such materials. Through an exploration of the muscle structures in aquatic creatures like octopuses and stingrays, we highlight the interplay between the materials that make up artificial muscles and how these muscles interact with their external surroundings. Finally, we conclude by outlining unresolved challenges and providing potential avenues for future research.

中文翻译：

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水下软机器人的人造肌肉：材料及其相互作用


水下软机器人通常由柔软且灵活的材料制成，这使它们能够适应地形复杂的水生环境。它们通常受到软体水生动物的启发，可用于一系列任务，例如水下探索、环境监测和救援行动。然而，这些机器人的设计面临着巨大的挑战，因为它需要能够承受海洋环境恶劣和变化的条件的软材料和系统。这篇综述深入研究了软材料的物理学，并概述了此类材料的本构模型。通过对章鱼和黄貂鱼等水生生物的肌肉结构的探索，我们强调了构成人造肌肉的材料之间的相互作用以及这些肌肉如何与其外部环境相互作用。最后，我们概述了尚未解决的挑战并为未来的研究提供了潜在的途径。