151
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Sun L, Yu Y, Chen Z, Bian F, Ye F, Sun L, Zhao Y. Biohybrid robotics with living cell actuation. Chem Soc Rev 2020; 49:4043-4069. [DOI: 10.1039/d0cs00120a] [Citation(s) in RCA: 63] [Impact Index Per Article: 15.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/18/2022]
Abstract
This review comprehensively discusses recent advances in the basic components, controlling methods and especially in the applications of biohybrid robots.
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Affiliation(s)
- Lingyu Sun
- Department of Rheumatology and Immunology
- The Affiliated Drum Tower Hospital of Nanjing University Medical School
- 210008 Nanjing
- China
- Department of Rheumatology and Immunology
| | - Yunru Yu
- State Key Laboratory of Bioelectronics
- School of Biological Science and Medical Engineering
- Southeast University
- 210096 Nanjing
- China
| | - Zhuoyue Chen
- State Key Laboratory of Bioelectronics
- School of Biological Science and Medical Engineering
- Southeast University
- 210096 Nanjing
- China
| | - Feika Bian
- State Key Laboratory of Bioelectronics
- School of Biological Science and Medical Engineering
- Southeast University
- 210096 Nanjing
- China
| | - Fangfu Ye
- Wenzhou Institute
- University of Chinese Academy of Sciences
- Wenzhou
- China
- Beijing National Laboratory for Condensed Matter Physics
| | - Lingyun Sun
- Department of Rheumatology and Immunology
- The Affiliated Drum Tower Hospital of Nanjing University Medical School
- 210008 Nanjing
- China
- Department of Rheumatology and Immunology
| | - Yuanjin Zhao
- Department of Rheumatology and Immunology
- The Affiliated Drum Tower Hospital of Nanjing University Medical School
- 210008 Nanjing
- China
- Department of Rheumatology and Immunology
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152
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Culha U, Demir SO, Trimpe S, Sitti M. Learning of Sub-optimal Gait Controllers for Magnetic Walking Soft Millirobots. ROBOTICS SCIENCE AND SYSTEMS : ONLINE PROCEEDINGS 2020; 2020. [PMID: 33778098 DOI: 10.15607/rss.2020.xvi.070] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
Abstract
Untethered small-scale soft robots have promising applications in minimally invasive surgery, targeted drug delivery, and bioengineering applications as they can access confined spaces in the human body. However, due to highly nonlinear soft continuum deformation kinematics, inherent stochastic variability during fabrication at the small scale, and lack of accurate models, the conventional control methods cannot be easily applied. Adaptivity of robot control is additionally crucial for medical operations, as operation environments show large variability, and robot materials may degrade or change over time, which would have deteriorating effects on the robot motion and task performance. Therefore, we propose using a probabilistic learning approach for millimeter-scale magnetic walking soft robots using Bayesian optimization (BO) and Gaussian processes (GPs). Our approach provides a data-efficient learning scheme to find controller parameters while optimizing the stride length performance of the walking soft millirobot robot within a small number of physical experiments. We demonstrate adaptation to fabrication variabilities in three different robots and to walking surfaces with different roughness. We also show an improvement in the learning performance by transferring the learning results of one robot to the others as prior information.
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Affiliation(s)
- Utku Culha
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Sinan O Demir
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Sebastian Trimpe
- Intelligent Control Systems Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany.,Institute for Data Science in Mechanical Engineering, RWTH Aachen University, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
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153
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Christianson C, Bayag C, Li G, Jadhav S, Giri A, Agba C, Li T, Tolley MT. Jellyfish-Inspired Soft Robot Driven by Fluid Electrode Dielectric Organic Robotic Actuators. Front Robot AI 2019; 6:126. [PMID: 33501141 PMCID: PMC7806063 DOI: 10.3389/frobt.2019.00126] [Citation(s) in RCA: 26] [Impact Index Per Article: 5.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/21/2019] [Accepted: 11/06/2019] [Indexed: 12/04/2022] Open
Abstract
Robots for underwater exploration are typically comprised of rigid materials and driven by propellers or jet thrusters, which consume a significant amount of power. Large power consumption necessitates a sizeable battery, which limits the ability to design a small robot. Propellers and jet thrusters generate considerable noise and vibration, which is counterproductive when studying acoustic signals or studying timid species. Bioinspired soft robots provide an approach for underwater exploration in which the robots are comprised of compliant materials that can better adapt to uncertain environments and take advantage of design elements that have been optimized in nature. In previous work, we demonstrated that frameless DEAs could use fluid electrodes to apply a voltage to the film and that effective locomotion in an eel-inspired robot could be achieved without the need for a rigid frame. However, the robot required an off-board power supply and a non-trivial control signal to achieve propulsion. To develop an untethered soft swimming robot powered by DEAs, we drew inspiration from the jellyfish and attached a ring of frameless DEAs to an inextensible layer to generate a unimorph structure that curves toward the passive side to generate power stroke, and efficiently recovers the original configuration as the robot coasts. This swimming strategy simplified the control system and allowed us to develop a soft robot capable of untethered swimming at an average speed of 3.2 mm/s and a cost of transport of 35. This work demonstrates the feasibility of using DEAs with fluid electrodes for low power, silent operation in underwater environments.
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Affiliation(s)
- Caleb Christianson
- Department of Nanoengineering, University of California, San Diego, La Jolla, CA, United States
| | - Christopher Bayag
- Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, United States
| | - Guorui Li
- School of Aeronautics and Astronautics, Institute of Applied Mechanics, Zhejiang University, Hangzhou, China
| | - Saurabh Jadhav
- Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, United States
| | - Ayush Giri
- Department of Mechanical Engineering, Howard University, Washington, DC, United States
| | - Chibuike Agba
- Department of Mechanical Engineering, Howard University, Washington, DC, United States
| | - Tiefeng Li
- School of Aeronautics and Astronautics, Institute of Applied Mechanics, Zhejiang University, Hangzhou, China
| | - Michael T Tolley
- Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA, United States
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154
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Wu S, Ze Q, Zhang R, Hu N, Cheng Y, Yang F, Zhao R. Symmetry-Breaking Actuation Mechanism for Soft Robotics and Active Metamaterials. ACS APPLIED MATERIALS & INTERFACES 2019; 11:41649-41658. [PMID: 31578851 DOI: 10.1021/acsami.9b13840] [Citation(s) in RCA: 54] [Impact Index Per Article: 10.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
Magnetic-responsive composites that consist of a soft matrix embedded with hard-magnetic particles have recently been demonstrated as robust soft active materials for fast-transforming actuation. However, the deformation of the functional components commonly attains only a single actuation mode under external stimuli, which limits their capability of achieving tunable properties. To greatly enhance the versatility of soft active materials, we exploit a new class of programmable magnetic-responsive composites incorporated with a multifunctional joint design that allows asymmetric multimodal actuation under an external stimulation. We demonstrate that the proposed asymmetric multimodal actuation enables a plethora of novel applications ranging from the basic one-dimensional/two-dimensional (2D) active structures with asymmetric shape-shifting to biomimetic crawling robots, swimming robots with efficient dynamic performance, and 2D metamaterials with tunable properties. This new asymmetric multimodal actuation mechanism will open up new avenues for the design of next-generation multifunctional soft robots, biomedical devices, and acoustic metamaterials.
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155
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Sonntag L, Simmchen J, Magdanz V. Nano-and Micromotors Designed for Cancer Therapy. Molecules 2019; 24:E3410. [PMID: 31546857 PMCID: PMC6767050 DOI: 10.3390/molecules24183410] [Citation(s) in RCA: 38] [Impact Index Per Article: 7.6] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/31/2019] [Revised: 08/30/2019] [Accepted: 09/05/2019] [Indexed: 12/18/2022] Open
Abstract
Research on nano- and micromotors has evolved into a frequently cited research area with innovative technology envisioned for one of current humanities' most deadly problems: cancer. The development of cancer targeting drug delivery strategies involving nano-and micromotors has been a vibrant field of study over the past few years. This review aims at categorizing recent significant results, classifying them according to the employed propulsion mechanisms starting from chemically driven micromotors, to field driven and biohybrid approaches. In concluding remarks of section 2, we give an insight into shape changing micromotors that are envisioned to have a significant contribution. Finally, we critically discuss which important aspects still have to be addressed and which challenges still lie ahead of us.
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Affiliation(s)
- Luisa Sonntag
- Chair of Physical Chemistry, TU Dresden, 01062 Dresden, Germany.
| | - Juliane Simmchen
- Chair of Physical Chemistry, TU Dresden, 01062 Dresden, Germany.
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156
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Li M, Ostrovsky-Snider NA, Sitti M, Omenetto FG. Cutting the Cord: Progress in Untethered Soft Robotics and Actuators. ACTA ACUST UNITED AC 2019. [DOI: 10.1557/adv.2019.439] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/20/2022]
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