1
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Wang Y, Chen H, Xie L, Liu J, Zhang L, Yu J. Swarm Autonomy: From Agent Functionalization to Machine Intelligence. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024:e2312956. [PMID: 38653192 DOI: 10.1002/adma.202312956] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/30/2023] [Revised: 04/17/2024] [Indexed: 04/25/2024]
Abstract
Swarm behaviors are common in nature, where individual organisms collaborate via perception, communication, and adaptation. Emulating these dynamics, large groups of active agents can self-organize through localized interactions, giving rise to complex swarm behaviors, which exhibit potential for applications across various domains. This review presents a comprehensive summary and perspective of synthetic swarms, to bridge the gap between the microscale individual agents and potential applications of synthetic swarms. It is begun by examining active agents, the fundamental units of synthetic swarms, to understand the origins of their motility and functionality in the presence of external stimuli. Then inter-agent communications and agent-environment communications that contribute to the swarm generation are summarized. Furthermore, the swarm behaviors reported to date and the emergence of machine intelligence within these behaviors are reviewed. Eventually, the applications enabled by distinct synthetic swarms are summarized. By discussing the emergent machine intelligence in swarm behaviors, insights are offered into the design and deployment of autonomous synthetic swarms for real-world applications.
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Affiliation(s)
- Yibin Wang
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Hui Chen
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Leiming Xie
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Jinbo Liu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, 999077, China
| | - Jiangfan Yu
- School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, 518172, China
- Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, 518172, China
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2
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Zhou H, Zhang S, Liu Z, Chi B, Li J, Wang Y. Untethered Microgrippers for Precision Medicine. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2024; 20:e2305805. [PMID: 37941516 DOI: 10.1002/smll.202305805] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/11/2023] [Revised: 10/07/2023] [Indexed: 11/10/2023]
Abstract
Microgrippers, a branch of micro/nanorobots, refer to motile miniaturized machines that are of a size in the range of several to hundreds of micrometers. Compared with tethered grippers or other microscopic diagnostic and surgical equipment, untethered microgrippers play an indispensable role in biomedical applications because of their characteristics such as miniaturized size, dexterous shape tranformation, and controllable motion, which enables the microgrippers to enter hard-to-reach regions to execute specific medical tasks for disease diagnosis and treatment. To date, numerous medical microgrippers are developed, and their potential in cell manipulation, targeted drug delivery, biopsy, and minimally invasive surgery are explored. To achieve controlled locomotion and efficient target-oriented actions, the materials, size, microarchitecture, and morphology of microgrippers shall be deliberately designed. In this review, the authors summarizes the latest progress in untethered micrometer-scale grippers. The working mechanisms of shape-morphing and actuation methods for effective movement are first introduced. Then, the design principle and state-of-the-art fabrication techniques of microgrippers are discussed. Finally, their applications in the precise medicine are highlighted, followed by offering future perspectives for the development of untethered medical microgrippers.
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Affiliation(s)
- Huaijuan Zhou
- Advanced Research Institute of Multidisciplinary Sciences, Beijing Institute of Technology, Beijing, 100081, China
| | - Shengchang Zhang
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Zijian Liu
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Bowen Chi
- Department of Neurology, Beijing Tiantan Hospital, Capital Medical University, Beijing, 100070, China
| | - Jinhua Li
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
| | - Yilong Wang
- School of Medical Technology, Beijing Institute of Technology, Beijing, 100081, China
- Department of Neurology, Beijing Tiantan Hospital, Capital Medical University, Beijing, 100070, China
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3
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Wang Y, Chen J, Su G, Mei J, Li J. A Review of Single-Cell Microrobots: Classification, Driving Methods and Applications. MICROMACHINES 2023; 14:1710. [PMID: 37763873 PMCID: PMC10537272 DOI: 10.3390/mi14091710] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 08/19/2023] [Accepted: 08/23/2023] [Indexed: 09/29/2023]
Abstract
Single-cell microrobots are new microartificial devices that use a combination of single cells and artificial devices, with the advantages of small size, easy degradation and ease of manufacture. With externally driven strategies such as light fields, sound fields and magnetic fields, microrobots are able to carry out precise micromanipulations and movements in complex microenvironments. Therefore, single-cell microrobots have received more and more attention and have been greatly developed in recent years. In this paper, we review the main classifications, control methods and recent advances in the field of single-cell microrobot applications. First, different types of robots, such as cell-based microrobots, bacteria-based microrobots, algae-based microrobots, etc., and their design strategies and fabrication processes are discussed separately. Next, three types of external field-driven technologies, optical, acoustic and magnetic, are presented and operations realized in vivo and in vitro by applying these three technologies are described. Subsequently, the results achieved by these robots in the fields of precise delivery, minimally invasive therapy are analyzed. Finally, a short summary is given and current challenges and future work on microbial-based robotics are discussed.
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Affiliation(s)
| | | | | | | | - Junyang Li
- School of Electronic Engineering, Ocean University of China, Qingdao 266000, China; (Y.W.); (J.C.); (G.S.); (J.M.)
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4
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Bader LPE, Klok HA. Chemical Approaches for the Preparation of Bacteria - Nano/Microparticle Hybrid Systems. Macromol Biosci 2023; 23:e2200440. [PMID: 36454518 DOI: 10.1002/mabi.202200440] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/18/2022] [Revised: 11/24/2022] [Indexed: 12/05/2022]
Abstract
Bacteria represent a class of living cells that are very attractive carriers for the transport and delivery of nano- and microsized particles. The use of cell-based carriers, such as for example bacteria, may allow to precisely direct nano- or microsized cargo to a desired site, which would greatly enhance the selectivity of drug delivery and allow to mitigate side effects. One key step towards the use of such nano-/microparticle - bacteria hybrids is the immobilization of the cargo on the bacterial cell surface. To fabricate bacteria - nano-/microparticle biohybrid microsystems, a wide range of chemical approaches are available that can be used to immobilize the particle payload on the bacterial cell surface. This article presents an overview of the various covalent and noncovalent chemistries that are available for the preparation of bacteria - nano-/microparticle hybrids. For each of the different chemical approaches, an overview will be presented that lists the bacterial strains that have been modified, the type and size of nanoparticles that have been immobilized, as well as the methods that have been used to characterize the nanoparticle-modified bacteria.
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Affiliation(s)
- Lisa Patricia Elisabeth Bader
- École Polytechnique Fédérale de Lausanne (EPFL), Institut des Matériaux and Institut des Sciences et Ingénierie Chimiques, Laboratoire des Polymères, Bâtiment MXD, Station 12, Lausanne, CH-1015, Switzerland
| | - Harm-Anton Klok
- École Polytechnique Fédérale de Lausanne (EPFL), Institut des Matériaux and Institut des Sciences et Ingénierie Chimiques, Laboratoire des Polymères, Bâtiment MXD, Station 12, Lausanne, CH-1015, Switzerland
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5
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Zhang S, Ke X, Jiang Q, Chai Z, Wu Z, Ding H. Fabrication and Functionality Integration Technologies for Small-Scale Soft Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2200671. [PMID: 35732070 DOI: 10.1002/adma.202200671] [Citation(s) in RCA: 6] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/21/2022] [Revised: 06/12/2022] [Indexed: 06/15/2023]
Abstract
Small-scale soft robots are attracting increasing interest for visible and potential applications owing to their safety and tolerance resulting from their intrinsic soft bodies or compliant structures. However, it is not sufficient that the soft bodies merely provide support or system protection. More importantly, to meet the increasing demands of controllable operation and real-time feedback in unstructured/complicated scenarios, these robots are required to perform simplex and multimodal functionalities for sensing, communicating, and interacting with external environments during large or dynamic deformation with the risk of mismatch or delamination. Challenges are encountered during fabrication and integration, including the selection and fabrication of composite/materials and structures, integration of active/passive functional modules with robust interfaces, particularly with highly deformable soft/stretchable bodies. Here, methods and strategies of fabricating structural soft bodies and integrating them with functional modules for developing small-scale soft robots are investigated. Utilizing templating, 3D printing, transfer printing, and swelling, small-scale soft robots can be endowed with several perceptual capabilities corresponding to diverse stimulus, such as light, heat, magnetism, and force. The integration of sensing and functionalities effectively enhances the agility, adaptability, and universality of soft robots when applied in various fields, including smart manufacturing, medical surgery, biomimetics, and other interdisciplinary sciences.
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Affiliation(s)
- Shuo Zhang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Xingxing Ke
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Qin Jiang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Zhiping Chai
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Zhigang Wu
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Han Ding
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
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6
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Melvin AA, Goudeau B, Nogala W, Kuhn A. Spatially Controlled CO
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Conversion Kinetics in Natural Leaves for Motion Generation. Angew Chem Int Ed Engl 2022; 61:e202205298. [DOI: 10.1002/anie.202205298] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/11/2022] [Indexed: 11/09/2022]
Affiliation(s)
- Ambrose A. Melvin
- University of Bordeaux, CNRS, Bordeaux INP, ISM, UMR5255, ENSCBP 16 Avenue Pey Berland 33607 Pessac France
- Institute of Physical Chemistry Polish Academy of Sciences Kasprzaka 44/52 01-224 Warsaw Poland
| | - Bertrand Goudeau
- University of Bordeaux, CNRS, Bordeaux INP, ISM, UMR5255, ENSCBP 16 Avenue Pey Berland 33607 Pessac France
| | - Wojciech Nogala
- Institute of Physical Chemistry Polish Academy of Sciences Kasprzaka 44/52 01-224 Warsaw Poland
| | - Alexander Kuhn
- University of Bordeaux, CNRS, Bordeaux INP, ISM, UMR5255, ENSCBP 16 Avenue Pey Berland 33607 Pessac France
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7
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Zhang Z, Wang H, Yang H, Song W, Dai L, Yu S, Liu X, Li T. Magnetic microswarm for MRI contrast enhancer. Chem Asian J 2022; 17:e202200561. [DOI: 10.1002/asia.202200561] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/30/2022] [Revised: 06/22/2022] [Indexed: 11/08/2022]
Affiliation(s)
- Zhanxiang Zhang
- Harbin Institute of Technology State Key Laboratory of Robotics and System CHINA
| | - Haocheng Wang
- Harbin Institute of Technology State Key Laboratory of Robotics and System CHINA
| | - Hua Yang
- Peking Union Medical College Hospital National Clinical Research Center for Obstetric & Gynecologic Diseases CHINA
| | - Wenping Song
- Harbin Institute of Technology State Key Laboratory of Robotics and System CHINA
| | - Lizhou Dai
- Harbin Institute of Technology State Key Laboratory of Robotics and System CHINA
| | - Shimin Yu
- Harbin Institute of Technology State Key Laboratory of Robotics and System CHINA
| | - Xuejia Liu
- The Fourth Affiliated Hospital of Harbin Medical University Department of Medical Imaging CHINA
| | - Tianlong Li
- Harbin Institute of Technology Mechanical Engineering 92 West Dazhi StreetMainhouse Room 125 150001 Harbin CHINA
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8
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Melvin AA, Goudeau B, Nogala W, Kuhn A. Spatially Controlled CO
2
Conversion Kinetics in Natural Leaves for Motion Generation. Angew Chem Int Ed Engl 2022. [DOI: 10.1002/ange.202205298] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Affiliation(s)
- Ambrose A. Melvin
- University of Bordeaux, CNRS, Bordeaux INP, ISM, UMR5255, ENSCBP 16 Avenue Pey Berland 33607 Pessac France
- Institute of Physical Chemistry Polish Academy of Sciences Kasprzaka 44/52 01-224 Warsaw Poland
| | - Bertrand Goudeau
- University of Bordeaux, CNRS, Bordeaux INP, ISM, UMR5255, ENSCBP 16 Avenue Pey Berland 33607 Pessac France
| | - Wojciech Nogala
- Institute of Physical Chemistry Polish Academy of Sciences Kasprzaka 44/52 01-224 Warsaw Poland
| | - Alexander Kuhn
- University of Bordeaux, CNRS, Bordeaux INP, ISM, UMR5255, ENSCBP 16 Avenue Pey Berland 33607 Pessac France
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9
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Zhou C, Gao C, Wu Y, Si T, Yang M, He Q. Torque-Driven Orientation Motion of Chemotactic Colloidal Motors. Angew Chem Int Ed Engl 2022; 61:e202116013. [PMID: 34981604 DOI: 10.1002/anie.202116013] [Citation(s) in RCA: 10] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/24/2021] [Indexed: 11/05/2022]
Abstract
We report a direct experimental observation of the torque-driven active reorientation of glucose-fueled flasklike colloidal motors to a glucose gradient exhibiting a positive chemotaxis. These streamlined flasklike colloidal motors are prepared by combining a hydrothermal synthesis and a vacuum infusion and can be propelled by an enzymatic cascade reaction in the glucose fuel. Their flasklike architecture can be used to recognize their moving posture, and thus the dynamic glucose-gradient-induced alignment and orientation-dependent motility during positive chemotaxis can be examined experimentally. The chemotactic mechanism is that the enzymatic reactions inside lead to the glucose acid gradient and the glucose gradient which generate two phoretic torques at the bottom and the opening respectively, and thus continuously steer it to the glucose gradient. Such glucose-fueled flasklike colloidal motors resembling the chemotactic capability of living organisms hold considerable potential for engineering active delivery vehicles in response to specific chemical signals.
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Affiliation(s)
- Chang Zhou
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education), School of Medicine and Health, Harbin Institute of Technology, No. 92 XiDaZhi Street, Harbin, 150001, China
| | - Changyong Gao
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education), School of Medicine and Health, Harbin Institute of Technology, No. 92 XiDaZhi Street, Harbin, 150001, China
| | - Yingjie Wu
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education), School of Medicine and Health, Harbin Institute of Technology, No. 92 XiDaZhi Street, Harbin, 150001, China
| | - Tieyan Si
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education), School of Medicine and Health, Harbin Institute of Technology, No. 92 XiDaZhi Street, Harbin, 150001, China
| | - Mingcheng Yang
- Beijing National Laboratory for Condensed Matter Physics and Laboratory of Soft Matter Physics, Institute of Physics, Chinese Academy of Sciences, Beijing, 100190, China.,School of Physical Sciences, University of Chinese Academy of Sciences, Beijing, 100049, China.,Songshan Lake Materials Laboratory, Dongguan, Guangdong, 523808, China
| | - Qiang He
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education), School of Medicine and Health, Harbin Institute of Technology, No. 92 XiDaZhi Street, Harbin, 150001, China
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10
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Li J, Dekanovsky L, Khezri B, Wu B, Zhou H, Sofer Z. Biohybrid Micro- and Nanorobots for Intelligent Drug Delivery. CYBORG AND BIONIC SYSTEMS 2022; 2022:9824057. [PMID: 36285309 PMCID: PMC9494704 DOI: 10.34133/2022/9824057] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/22/2021] [Accepted: 01/18/2022] [Indexed: 08/12/2023] Open
Abstract
Biohybrid micro- and nanorobots are integrated tiny machines from biological components and artificial components. They can possess the advantages of onboard actuation, sensing, control, and implementation of multiple medical tasks such as targeted drug delivery, single-cell manipulation, and cell microsurgery. This review paper is to give an overview of biohybrid micro- and nanorobots for smart drug delivery applications. First, a wide range of biohybrid micro- and nanorobots comprising different biological components are reviewed in detail. Subsequently, the applications of biohybrid micro- and nanorobots for active drug delivery are introduced to demonstrate how such biohybrid micro- and nanorobots are being exploited in the field of medicine and healthcare. Lastly, key challenges to be overcome are discussed to pave the way for the clinical translation and application of the biohybrid micro- and nanorobots.
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Affiliation(s)
- Jinhua Li
- School of Medical Technology, Beijing Institute of Technology, Beijing 100081, China
- Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Lukas Dekanovsky
- Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Bahareh Khezri
- Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Bing Wu
- Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Huaijuan Zhou
- Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Zdenek Sofer
- Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
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11
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Zhou C, Gao C, Wu Y, Si T, Yang M, He Q. Torque‐Driven Orientation Motion of Chemotactic Colloidal Motors. Angew Chem Int Ed Engl 2022. [DOI: 10.1002/ange.202116013] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Affiliation(s)
- Chang Zhou
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education) School of Medicine and Health Harbin Institute of Technology No. 92 XiDaZhi Street Harbin 150001 China
| | - Changyong Gao
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education) School of Medicine and Health Harbin Institute of Technology No. 92 XiDaZhi Street Harbin 150001 China
| | - Yingjie Wu
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education) School of Medicine and Health Harbin Institute of Technology No. 92 XiDaZhi Street Harbin 150001 China
| | - Tieyan Si
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education) School of Medicine and Health Harbin Institute of Technology No. 92 XiDaZhi Street Harbin 150001 China
| | - Mingcheng Yang
- Beijing National Laboratory for Condensed Matter Physics and Laboratory of Soft Matter Physics Institute of Physics Chinese Academy of Sciences Beijing 100190 China
- School of Physical Sciences University of Chinese Academy of Sciences Beijing 100049 China
- Songshan Lake Materials Laboratory Dongguan, Guangdong 523808 China
| | - Qiang He
- Key Laboratory of Microsystems and Microstructures Manufacturing (Ministry of Education) School of Medicine and Health Harbin Institute of Technology No. 92 XiDaZhi Street Harbin 150001 China
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12
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Chen Q, Tang S, Li Y, Cong Z, Lu D, Yang Q, Zhang X, Wu S. Multifunctional Metal-Organic Framework Exoskeletons Protect Biohybrid Sperm Microrobots for Active Drug Delivery from the Surrounding Threats. ACS APPLIED MATERIALS & INTERFACES 2021; 13:58382-58392. [PMID: 34860489 DOI: 10.1021/acsami.1c18597] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/05/2023]
Abstract
Utilizing spermatozoa as the engine unit of robotic systems at a microscale has brought revolutionized inspirations and strategies to the biomedical community. However, the motility of sperms is impaired by the surrounding threats. For example, the antisperm antibody (AsA) can specifically bind with surface antigens on the sperm membrane and adversely affect their propulsion, hindering the operation of sperm-based microrobots in practical environments. In the present work, we report a biohybrid sperm microrobot by encapsulating sperm cells within metal-organic frameworks (MOFs) and zeolitic imidazolate framework-8 (ZIF-8) nanoparticles (NPs) (ZIFSpermbot), capable of active drug delivery and cytoprotection from the biological threats of AsA. ZIF-8 NPs can be facilely coated on the sperm membrane through complexation with tannic acid. Such cell surface engineering has a negligible impact on sperm motility under optimized conditions. The selective permeability of the resulting porous ZIF-8 wrappings protects ZIFSpermbots from the specific binding of AsA, enabling the preservation of intrinsic propulsion of the sperm engine. Besides, ZIF-8 wrappings sustainably release zinc ions and attenuate the oxidative damage generated in sperm cells, allowing the maintenance of sperm movement. Combining the effective protection of sperm propulsion with the drug-loading capacity of ZIF-8 NPs provides new applicability to ZIFSpermbots in risky surroundings with AsA, exhibiting rapid migration in a microfluidic device for active drug delivery with enhanced therapeutic efficacy due to their retained effective propulsion. Imparting bioengine-based microrobots with multifunctional wrappings holds great promise for designing adaptive cell robots that endure harsh environments toward locally extended and diverse operations, facilitating their use in practical and clinical applications.
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Affiliation(s)
- Qiwei Chen
- Teaching Center of Shenzhen Luohu Hospital, Shantou University Medical College, Shantou 515000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen 518000, P. R. China
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
| | - Songsong Tang
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen 518000, P. R. China
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
| | - Yangyang Li
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen 518000, P. R. China
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
| | - Zhaoqing Cong
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen 518000, P. R. China
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
| | - Dongdong Lu
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen 518000, P. R. China
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
| | - Qingxin Yang
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen 518000, P. R. China
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
| | - Xueji Zhang
- School of Biomedical Engineering, Health Science Centre, Shenzhen University, Shenzhen 518060, P. R. China
| | - Song Wu
- Teaching Center of Shenzhen Luohu Hospital, Shantou University Medical College, Shantou 515000, P. R. China
- Shenzhen Following Precision Medical Research Institute, Luohu Hospital Group, Shenzhen 518000, P. R. China
- Institute of Urology, The Third Affiliated Hospital of Shenzhen University, Shenzhen 518000, P. R. China
- Department of Urology, South China Hospital, Health Science Center, Shenzhen University, Shenzhen 518116, P. R. China
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13
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Yu S, Sun Z, Zhang Z, Sun H, Liu L, Wang W, Li M, Zhao Q, Li T. Magnetic Microdimer as Mobile Meter for Measuring Plasma Glucose and Lipids. Front Bioeng Biotechnol 2021; 9:779632. [PMID: 34900967 PMCID: PMC8660689 DOI: 10.3389/fbioe.2021.779632] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/19/2021] [Accepted: 10/08/2021] [Indexed: 01/21/2023] Open
Abstract
With the development of designed materials and structures, a wide array of micro/nanomachines with versatile functionalities are employed for specific sensing applications. Here, we demonstrated a magnetic propelled microdimer-based point-of-care testing system, which can be used to provide the real-time data of plasma glucose and lipids relying on the motion feedback of mechanical properties. On-demand and programmable speed and direction of the microdimers can be achieved with the judicious adjustment of the external magnetic field, while their velocity and instantaneous postures provide estimation of glucose, cholesterol, and triglycerides concentrations with high temporal accuracy. Numerical simulations reveal the relationship between motility performance and surrounding liquid properties. Such technology presents a point-of-care testing (POCT) approach to adapt to biofluid measurement, which advances the development of microrobotic system in biomedical fields.
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Affiliation(s)
- Shimin Yu
- Department of Pharmacy, The Second Affiliated Hospital of Harbin Medical University, Harbin, China.,State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Zhongqi Sun
- Department of Radiology, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Zhanxiang Zhang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.,Chongqing Research Institute of HIT, Harbin, China
| | - Haoran Sun
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Lina Liu
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Wuyi Wang
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Mu Li
- Department of Pharmacy, The Second Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Qingsong Zhao
- Department of Endocrinology, The Fourth Affiliated Hospital of Harbin Medical University, Harbin, China
| | - Tianlong Li
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
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14
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Chen QW, Qiao JY, Liu XH, Zhang C, Zhang XZ. Customized materials-assisted microorganisms in tumor therapeutics. Chem Soc Rev 2021; 50:12576-12615. [PMID: 34605834 DOI: 10.1039/d0cs01571g] [Citation(s) in RCA: 35] [Impact Index Per Article: 11.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
Abstract
Microorganisms have been extensively applied as active biotherapeutic agents or drug delivery vehicles for antitumor treatment because of their unparalleled bio-functionalities. Taking advantage of the living attributes of microorganisms, a new avenue has been opened in anticancer research. The integration of customized functional materials with living microorganisms has demonstrated unprecedented potential in solving existing questions and even conferring microorganisms with updated antitumor abilities and has also provided an innovative train of thought for enhancing the efficacy of microorganism-based tumor therapy. In this review, we have summarized the emerging development of customized materials-assisted microorganisms (MAMO) (including bacteria, viruses, fungi, microalgae, as well as their components) in tumor therapeutics with an emphasis on the rational utilization of chosen microorganisms and tailored materials, the ingenious design of biohybrid systems, and the efficacious antitumor mechanisms. The future perspectives and challenges in this field are also discussed.
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Affiliation(s)
- Qi-Wen Chen
- Key Laboratory of Biomedical Polymers of Ministry of Education & Department of Chemistry, Wuhan University, Wuhan 430072, P. R. China.
| | - Ji-Yan Qiao
- Key Laboratory of Biomedical Polymers of Ministry of Education & Department of Chemistry, Wuhan University, Wuhan 430072, P. R. China.
| | - Xin-Hua Liu
- Key Laboratory of Biomedical Polymers of Ministry of Education & Department of Chemistry, Wuhan University, Wuhan 430072, P. R. China.
| | - Cheng Zhang
- Key Laboratory of Biomedical Polymers of Ministry of Education & Department of Chemistry, Wuhan University, Wuhan 430072, P. R. China.
| | - Xian-Zheng Zhang
- Key Laboratory of Biomedical Polymers of Ministry of Education & Department of Chemistry, Wuhan University, Wuhan 430072, P. R. China.
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15
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Abstract
Abstract
In the past few decades, robotics research has witnessed an increasingly high interest in miniaturized, intelligent, and integrated robots. The imperative component of a robot is the actuator that determines its performance. Although traditional rigid drives such as motors and gas engines have shown great prevalence in most macroscale circumstances, the reduction of these drives to the millimeter or even lower scale results in a significant increase in manufacturing difficulty accompanied by a remarkable performance decline. Biohybrid robots driven by living cells can be a potential solution to overcome these drawbacks by benefiting from the intrinsic microscale self-assembly of living tissues and high energy efficiency, which, among other unprecedented properties, also feature flexibility, self-repair, and even multiple degrees of freedom. This paper systematically reviews the development of biohybrid robots. First, the development of biological flexible drivers is introduced while emphasizing on their advantages over traditional drivers. Second, up-to-date works regarding biohybrid robots are reviewed in detail from three aspects: biological driving sources, actuator materials, and structures with associated control methodologies. Finally, the potential future applications and major challenges of biohybrid robots are explored.
Graphic abstract
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16
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Abstract
![]()
Manipulation and navigation of micro
and nanoswimmers in different
fluid environments can be achieved by chemicals, external fields,
or even motile cells. Many researchers have selected magnetic fields
as the active external actuation source based on the advantageous
features of this actuation strategy such as remote and spatiotemporal
control, fuel-free, high degree of reconfigurability, programmability,
recyclability, and versatility. This review introduces fundamental
concepts and advantages of magnetic micro/nanorobots (termed here
as “MagRobots”) as well as basic knowledge of magnetic
fields and magnetic materials, setups for magnetic manipulation, magnetic
field configurations, and symmetry-breaking strategies for effective
movement. These concepts are discussed to describe the interactions
between micro/nanorobots and magnetic fields. Actuation mechanisms
of flagella-inspired MagRobots (i.e., corkscrew-like motion and traveling-wave
locomotion/ciliary stroke motion) and surface walkers (i.e., surface-assisted
motion), applications of magnetic fields in other propulsion approaches,
and magnetic stimulation of micro/nanorobots beyond motion are provided
followed by fabrication techniques for (quasi-)spherical, helical,
flexible, wire-like, and biohybrid MagRobots. Applications of MagRobots
in targeted drug/gene delivery, cell manipulation, minimally invasive
surgery, biopsy, biofilm disruption/eradication, imaging-guided delivery/therapy/surgery,
pollution removal for environmental remediation, and (bio)sensing
are also reviewed. Finally, current challenges and future perspectives
for the development of magnetically powered miniaturized motors are
discussed.
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Affiliation(s)
- Huaijuan Zhou
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Carmen C Mayorga-Martinez
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic
| | - Salvador Pané
- Multi-Scale Robotics Lab (MSRL), Institute of Robotics and Intelligent Systems (IRIS), ETH Zurich, Tannenstrasse 3, 8092 Zurich, Switzerland
| | - Li Zhang
- Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong 999077, China
| | - Martin Pumera
- Center for Advanced Functional Nanorobots, Department of Inorganic Chemistry, University of Chemistry and Technology Prague, Technicka 5, 166 28 Prague 6, Czech Republic.,Department of Medical Research, China Medical University Hospital, China Medical University, No. 91 Hsueh-Shih Road, Taichung 40402, Taiwan.,Department of Chemistry and Biochemistry, Mendel University in Brno, Zemedelska 1, CZ-613 00 Brno, Czech Republic.,Department of Chemical and Biomolecular Engineering, Yonsei University, 50 Yonsei-ro, Seodaemun-gu, Seoul 03722, Korea.,Future Energy and Innovation Laboratory, Central European Institute of Technology, Brno University of Technology, Purkyňova 656/123, Brno CZ-612 00, Czech Republic
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17
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Xie S, Qin L, Li G, Jiao N. Robotized algal cells and their multiple functions. SOFT MATTER 2021; 17:3047-3054. [PMID: 33725085 DOI: 10.1039/d0sm02096f] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/12/2023]
Abstract
From an engineering perspective, algal cells with the abilities of perception and driving can be considered as microrobots. Site-specific, quantitative assembly of algal robots and the manipulated objects and collaborative task performance by algal robots would benefit biomedicine, environmental monitoring, and micro-nano manufacturing. Herein, site-specific, quantitative assembly and drive of algal cells are investigated. The mechanism of cell movement is analyzed, and cell motility is evaluated with or without light control. To robotize algal cells, an algae-guiding system is built, through which a swarm of algal cells is controlled to follow trajectories. By the cell adhesion method, adhesion and release between algal cells and microstructures are achieved. Algal cells successfully transport microspheres and release them at a destination. The cells are continuously operated for 60 min while carrying microspheres and they travel up to 270 mm. An optical guiding method is then developed for controlled assembly of algal robots onto fabricated micro-objects. The rotational movement of the microstructures is realized through cooperative driving by algal cells. This research provides a new biological driving method based on algal cells, which swim and behave as microrobots and are expected to benefit microassembly, microcargo traverse/delivery, and biological collaboration.
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Affiliation(s)
- Shuangxi Xie
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 10016, China.
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18
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Akolpoglu MB, Dogan NO, Bozuyuk U, Ceylan H, Kizilel S, Sitti M. High-Yield Production of Biohybrid Microalgae for On-Demand Cargo Delivery. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2020; 7:2001256. [PMID: 32832367 PMCID: PMC7435244 DOI: 10.1002/advs.202001256] [Citation(s) in RCA: 26] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/05/2020] [Indexed: 05/06/2023]
Abstract
Biohybrid microswimmers exploit the swimming and navigation of a motile microorganism to target and deliver cargo molecules in a wide range of biomedical applications. Medical biohybrid microswimmers suffer from low manufacturing yields, which would significantly limit their potential applications. In the present study, a biohybrid design strategy is reported, where a thin and soft uniform coating layer is noncovalently assembled around a motile microorganism. Chlamydomonas reinhardtii (a single-cell green alga) is used in the design as a biological model microorganism along with polymer-nanoparticle matrix as the synthetic component, reaching a manufacturing efficiency of ≈90%. Natural biopolymer chitosan is used as a binder to efficiently coat the cell wall of the microalgae with nanoparticles. The soft surface coating does not impair the viability and phototactic ability of the microalgae, and allows further engineering to accommodate biomedical cargo molecules. Furthermore, by conjugating the nanoparticles embedded in the thin coating with chemotherapeutic doxorubicin by a photocleavable linker, on-demand delivery of drugs to tumor cells is reported as a proof-of-concept biomedical demonstration. The high-throughput strategy can pave the way for the next-generation generation microrobotic swarms for future medical active cargo delivery tasks.
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Affiliation(s)
- Mukrime Birgul Akolpoglu
- Physical Intelligence DepartmentMax Planck Institute for Intelligent SystemsStuttgart70569Germany
| | - Nihal Olcay Dogan
- Physical Intelligence DepartmentMax Planck Institute for Intelligent SystemsStuttgart70569Germany
- Chemical and Biological Engineering DepartmentKoç UniversityIstanbul34450Turkey
| | - Ugur Bozuyuk
- Physical Intelligence DepartmentMax Planck Institute for Intelligent SystemsStuttgart70569Germany
| | - Hakan Ceylan
- Physical Intelligence DepartmentMax Planck Institute for Intelligent SystemsStuttgart70569Germany
| | - Seda Kizilel
- Chemical and Biological Engineering DepartmentKoç UniversityIstanbul34450Turkey
| | - Metin Sitti
- Physical Intelligence DepartmentMax Planck Institute for Intelligent SystemsStuttgart70569Germany
- School of Medicine and School of EngineeringKoç UniversityIstanbul34450Turkey
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19
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Bioinspired reorientation strategies for application in micro/nanorobotic control. JOURNAL OF MICRO-BIO ROBOTICS 2020. [DOI: 10.1007/s12213-020-00130-7] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/14/2022]
Abstract
AbstractEngineers have recently been inspired by swimming methodologies of microorganisms in creating micro-/nanorobots for biomedical applications. Future medicine may be revolutionized by the application of these small machines in diagnosing, monitoring, and treating diseases. Studies over the past decade have often concentrated on propulsion generation. However, there are many other challenges to address before the practical use of robots at the micro-/nanoscale. The control and reorientation ability of such robots remain as some of these challenges. This paper reviews the strategies of swimming microorganisms for reorientation, including tumbling, reverse and flick, direction control of helical-path swimmers, by speed modulation, using complex flagella, and the help of mastigonemes. Then, inspired by direction change in microorganisms, methods for orientation control for microrobots and possible directions for future studies are discussed. Further, the effects of solid boundaries on the swimming trajectories of microorganisms and microrobots are examined. In addition to propulsion systems for artificial microswimmers, swimming microorganisms are promising sources of control methodologies at the micro-/nanoscale.
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20
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Leaman EJ, Sahari A, Traore MA, Geuther BQ, Morrow CM, Behkam B. Data-driven statistical modeling of the emergent behavior of biohybrid microrobots. APL Bioeng 2020; 4:016104. [PMID: 32128471 PMCID: PMC7049295 DOI: 10.1063/1.5134926] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/04/2019] [Accepted: 02/10/2020] [Indexed: 12/19/2022] Open
Abstract
Multi-agent biohybrid microrobotic systems, owing to their small size and distributed nature, offer powerful solutions to challenges in biomedicine, bioremediation, and biosensing. Synthetic biology enables programmed emergent behaviors in the biotic component of biohybrid machines, expounding vast potential benefits for building biohybrid swarms with sophisticated control schemes. The design of synthetic genetic circuits tailored toward specific performance characteristics is an iterative process that relies on experimental characterization of spatially homogeneous engineered cell suspensions. However, biohybrid systems often distribute heterogeneously in complex environments, which will alter circuit performance. Thus, there is a critically unmet need for simple predictive models that describe emergent behaviors of biohybrid systems to inform synthetic gene circuit design. Here, we report a data-driven statistical model for computationally efficient recapitulation of the motility dynamics of two types of Escherichia coli bacteria-based biohybrid swarms-NanoBEADS and BacteriaBots. The statistical model was coupled with a computational model of cooperative gene expression, known as quorum sensing (QS). We determined differences in timescales for programmed emergent behavior in BacteriaBots and NanoBEADS swarms, using bacteria as a comparative baseline. We show that agent localization and genetic circuit sensitivity strongly influence the timeframe and the robustness of the emergent behavior in both systems. Finally, we use our model to design a QS-based decentralized control scheme wherein agents make independent decisions based on their interaction with other agents and the local environment. We show that synergistic integration of synthetic biology and predictive modeling is requisite for the efficient development of biohybrid systems with robust emergent behaviors.
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Affiliation(s)
- Eric J. Leaman
- Department of Mechanical Engineering, Virginia Tech, Blacksburg, Virginia 24061, USA
| | - Ali Sahari
- School of Biomedical Engineering and Sciences, Virginia Tech, Blacksburg, Virginia 24061, USA
| | - Mahama A. Traore
- Department of Mechanical Engineering, Virginia Tech, Blacksburg, Virginia 24061, USA
| | - Brian Q. Geuther
- Department of Mechanical Engineering, Virginia Tech, Blacksburg, Virginia 24061, USA
| | - Carmen M. Morrow
- Department of Mechanical Engineering, Virginia Tech, Blacksburg, Virginia 24061, USA
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21
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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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22
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Prakash P, Abdulla AZ, Singh V, Varma M. Tuning the torque-speed characteristics of the bacterial flagellar motor to enhance swimming speed. Phys Rev E 2019; 100:062609. [PMID: 31962428 DOI: 10.1103/physreve.100.062609] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/09/2019] [Indexed: 06/10/2023]
Abstract
In a classic paper, Purcell [Proc. Natl. Acad. Sci. U. S. A. 94, 11307 (1997)10.1073/pnas.94.21.11307] analyzed the dynamics of flagellated bacterial swimmers and derived a geometrical relationship which maximizes the propulsion efficiency. Experimental measurements for wild-type bacterial species E. coli have revealed that they closely satisfy this geometric optimality. However, dependence of the flagellar motor speed on the load and more generally the role of the torque-speed characteristics of the flagellar motor are not considered in Purcell's original analysis. Here we derive a tuned condition representing a match between the flagella geometry and the torque-speed characteristics of the flagellar motor to maximize the bacterial swimming speed for a given load. This condition is independent of the geometric optimality condition derived by Purcell. Interestingly, this condition is not satisfied by wild-type E. coli which swims 2-3 times slower than the maximum possible speed given the amount of available motor torque. Finally, we present experimental data on swimming dynamics of a cargo laden bacterial system which follows our analytical model. Our analysis also reveals the existence of an anomalous propulsion regime where the swim speed increases with increasing load (drag).
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Affiliation(s)
- Praneet Prakash
- Centre for Nanoscience and Engineering, Indian Institute of Science, Bangalore 560012, India
| | - Amith Z Abdulla
- Department of Physics, Indian Institute of Science, Bangalore 560012, India
| | - Varsha Singh
- Molecular Reproduction, Development and Genetics, Indian Institute of Science, Bangalore 560012, India
| | - Manoj Varma
- Centre for Nanoscience and Engineering, Indian Institute of Science, Bangalore 560012, India
- Robert Bosch Centre for Cyber Physical Systems, Indian Institute of Science, Bangalore 560012, India
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23
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Danis U, Rasooli R, Chen CY, Dur O, Sitti M, Pekkan K. Thrust and Hydrodynamic Efficiency of the Bundled Flagella. MICROMACHINES 2019; 10:mi10070449. [PMID: 31277385 PMCID: PMC6680724 DOI: 10.3390/mi10070449] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/29/2019] [Revised: 05/23/2019] [Accepted: 05/26/2019] [Indexed: 01/09/2023]
Abstract
The motility mechanism of prokaryotic organisms has inspired many untethered microswimmers that could potentially perform minimally invasive medical procedures in stagnant fluid regions inside the human body. Some of these microswimmers are inspired by bacteria with single or multiple helical flagella to propel efficiently and fast. For multiple flagella configurations, the direct measurement of thrust and hydrodynamic propulsion efficiency has been challenging due to the ambiguous mechanical coupling between the flow field and mechanical power input. To address this challenge and to compare alternative micropropulsion designs, a methodology based on volumetric velocity field acquisition is developed to acquire the key propulsive performance parameters from scaled-up swimmer prototypes. A digital particle image velocimetry (PIV) analysis protocol was implemented and experiments were conducted with the aid of computational fluid dynamics (CFD). First, this methodology was validated using a rotating single-flagellum similitude model. In addition to the standard PIV error assessment, validation studies included 2D vs. 3D PIV, axial vs. lateral PIV and simultaneously acquired direct thrust force measurement comparisons. Compatible with typical micropropulsion flow regimes, experiments were conducted both for very low and higher Reynolds (Re) number regimes (up to a Re number = 0.01) than that are reported in the literature. Finally, multiple flagella bundling configurations at 0°, 90° and 180° helical phase-shift angles were studied using scaled-up multiple concentric flagella thrust elements. Thrust generation was found to be maximal for the in-phase (0°) bundling configuration but with ~50% lower hydrodynamic efficiency than the single flagellum. The proposed measurement protocol and static thrust test-bench can be used for bio-inspired microscale propulsion methods, where direct thrust and efficiency measurement are required.
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Affiliation(s)
- Umit Danis
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
| | - Reza Rasooli
- Department of Mechanical Engineering, Koc University, Istanbul 34450, Turkey
| | - Chia-Yuan Chen
- Department of Mechanical Engineering, National Cheng Kung University, Tainan 701, Taiwan
| | - Onur Dur
- Department of Biomedical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
| | - Metin Sitti
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
- Department of Mechanical Engineering, Koc University, Istanbul 34450, Turkey
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart 70569, Germany
| | - Kerem Pekkan
- Department of Mechanical Engineering, Koc University, Istanbul 34450, Turkey.
- Department of Biomedical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA.
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24
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Sardelli L, Pacheco DP, Zorzetto L, Rinoldi C, Święszkowski W, Petrini P. Engineering biological gradients. J Appl Biomater Funct Mater 2019; 17:2280800019829023. [PMID: 30803308 DOI: 10.1177/2280800019829023] [Citation(s) in RCA: 14] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/15/2022] Open
Abstract
Biological gradients profoundly influence many cellular activities, such as adhesion, migration, and differentiation, which are the key to biological processes, such as inflammation, remodeling, and tissue regeneration. Thus, engineered structures containing bioinspired gradients can not only support a better understanding of these phenomena, but also guide and improve the current limits of regenerative medicine. In this review, we outline the challenges behind the engineering of devices containing chemical-physical and biomolecular gradients, classifying them according to gradient-making methods and the finalities of the systems. Different manufacturing processes can generate gradients in either in-vitro systems or scaffolds, which are suitable tools for the study of cellular behavior and for regenerative medicine; within these, rapid prototyping techniques may have a huge impact on the controlled production of gradients. The parallel need to develop characterization techniques is addressed, underlining advantages and weaknesses in the analysis of both chemical and physical gradients.
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Affiliation(s)
- L Sardelli
- 1 Department of Chemistry, Materials and Chemical Engineering "Giulio Natta", Politecnico di Milano, Milan, Italy
| | - D P Pacheco
- 1 Department of Chemistry, Materials and Chemical Engineering "Giulio Natta", Politecnico di Milano, Milan, Italy
| | - L Zorzetto
- 2 Department of Aerospace and Mechanical Engineering, University of Liège, Liège, Belgium
| | - C Rinoldi
- 3 Faculty of Materials Science and Engineering, Warsaw University of Technology, Poland
| | - W Święszkowski
- 3 Faculty of Materials Science and Engineering, Warsaw University of Technology, Poland
| | - P Petrini
- 1 Department of Chemistry, Materials and Chemical Engineering "Giulio Natta", Politecnico di Milano, Milan, Italy
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25
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Esparza López C, Théry A, Lauga E. A stochastic model for bacteria-driven micro-swimmers. SOFT MATTER 2019; 15:2605-2616. [PMID: 30821805 DOI: 10.1039/c8sm02157k] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/09/2023]
Abstract
Experiments have recently shown the feasibility of utilising bacteria as micro-scale robotic devices, with special attention paid to the development of bacteria-driven micro-swimmers taking advantage of built-in actuation and sensing mechanisms of cells. Here we propose a stochastic fluid dynamic model to describe analytically and computationally the dynamics of microscopic particles driven by the motion of surface-attached bacteria undergoing run-and-tumble motion. We compute analytical expressions for the rotational diffusion coefficient, the swimming speed and the effective diffusion coefficient. At short times, the mean squared displacement (MSD) is proportional to the square of the swimming speed, which is independent of the particle size (for fixed density of attached bacteria) and scales linearly with the number of attached bacteria; in contrast, at long times the MSD scales quadratically with the size of the swimmer and is independent of the number of bacteria. We then extend our result to the situation where the surface-attached bacteria undergo chemotaxis within the linear response regime. We demonstrate that bacteria-driven particles are capable of performing artificial chemotaxis, with a chemotactic drift velocity linear in the chemical concentration gradient and independent of the size of the particle. Our results are validated against numerical simulations in the Brownian dynamics limit and will be relevant to the optimal design of micro-swimmers for biomedical applications.
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Affiliation(s)
- Christian Esparza López
- Department of Applied Mathematics and Theoretical Physics, University of Cambridge, Cambridge CB3 0WA, UK.
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26
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Plutnar J, Pumera M. Chemotactic Micro‐ and Nanodevices. Angew Chem Int Ed Engl 2019; 58:2190-2196. [DOI: 10.1002/anie.201809101] [Citation(s) in RCA: 19] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/07/2018] [Indexed: 12/30/2022]
Affiliation(s)
- Jan Plutnar
- Department of Inorganic ChemistryUniversity of Chemistry and Technology in Prague Technická 5 Prague 166 28 Czech Republic
| | - Martin Pumera
- Department of Inorganic ChemistryUniversity of Chemistry and Technology in Prague Technická 5 Prague 166 28 Czech Republic
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27
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Affiliation(s)
- Jan Plutnar
- Department of Inorganic Chemistry; University of Chemistry and Technology in Prague; Technická 5 Prague 166 28 Tschechische Republik
| | - Martin Pumera
- Department of Inorganic Chemistry; University of Chemistry and Technology in Prague; Technická 5 Prague 166 28 Tschechische Republik
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28
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Yasa O, Erkoc P, Alapan Y, Sitti M. Microalga-Powered Microswimmers toward Active Cargo Delivery. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2018; 30:e1804130. [PMID: 30252963 DOI: 10.1002/adma.201804130] [Citation(s) in RCA: 96] [Impact Index Per Article: 16.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/28/2018] [Revised: 08/27/2018] [Indexed: 05/25/2023]
Abstract
Nature presents intriguing biological swimmers with innate energy harvesting abilities from their local environments. Use of natural swimmers as cargo delivery agents presents an alternative strategy to transport therapeutics inside the body to locations otherwise difficult to access by traditional delivery strategies. Herein, a biocompatible biohybrid microswimmer powered by a unicellular freshwater green microalga, Chlamydomonas reinhardtii, is reported. Polyelectrolyte-functionalized magnetic spherical cargoes (1 µm in diameter) are attached to surface of the microalgae via noncovalent interactions without the requirement for any chemical reaction. The 3D swimming motility of the constructed biohybrid algal microswimmers is characterized in the presence and absence of a uniform magnetic fields. In addition, motility of both microalgae and biohybrid algal microswimmers is investigated in various physiologically relevant conditions, including cell culture medium, human tubal fluid, plasma, and blood. Furthermore, it is demonstrated that the algal microswimmers are cytocompatible when co-cultured with healthy and cancerous cells. Finally, fluorescent isothiocyanate-dextran (a water-soluble polysaccharide) molecules are effectively delivered to mammalian cells using the biohybrid algal microswimmers as a proof-of-concept active cargo delivery demonstration. The microswimmer design described here presents a new class of biohybrid microswimmers with greater biocompatibility and motility for targeted delivery applications in medicine.
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Affiliation(s)
- Oncay Yasa
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Pelin Erkoc
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Yunus Alapan
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany
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29
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Erkoc P, Yasa IC, Ceylan H, Yasa O, Alapan Y, Sitti M. Mobile Microrobots for Active Therapeutic Delivery. ADVANCED THERAPEUTICS 2018. [DOI: 10.1002/adtp.201800064] [Citation(s) in RCA: 121] [Impact Index Per Article: 20.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/17/2022]
Affiliation(s)
- Pelin Erkoc
- Physical Intelligence Department; Max Planck Institute for Intelligent; Systems 70569 Stuttgart Germany
| | - Immihan C. Yasa
- Physical Intelligence Department; Max Planck Institute for Intelligent; Systems 70569 Stuttgart Germany
| | - Hakan Ceylan
- Physical Intelligence Department; Max Planck Institute for Intelligent; Systems 70569 Stuttgart Germany
| | - Oncay Yasa
- Physical Intelligence Department; Max Planck Institute for Intelligent; Systems 70569 Stuttgart Germany
| | - Yunus Alapan
- Physical Intelligence Department; Max Planck Institute for Intelligent; Systems 70569 Stuttgart Germany
| | - Metin Sitti
- Physical Intelligence Department; Max Planck Institute for Intelligent; Systems 70569 Stuttgart Germany
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Vilela D, Cossío U, Parmar J, Martínez-Villacorta AM, Gómez-Vallejo V, Llop J, Sánchez S. Medical Imaging for the Tracking of Micromotors. ACS NANO 2018; 12:1220-1227. [PMID: 29361216 DOI: 10.1021/acsnano.7b07220] [Citation(s) in RCA: 91] [Impact Index Per Article: 15.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/05/2023]
Abstract
Micro/nanomotors are useful tools for several biomedical applications, including targeted drug delivery and minimally invasive microsurgeries. However, major challenges such as in vivo imaging need to be addressed before they can be safely applied on a living body. Here, we show that positron emission tomography (PET), a molecular imaging technique widely used in medical imaging, can also be used to track a large population of tubular Au/PEDOT/Pt micromotors. Chemisorption of an iodine isotope onto the micromotor's Au surface rendered them detectable by PET, and we could track their movements in a tubular phantom over time frames of up to 15 min. In a second set of experiments, micromotors and the bubbles released during self-propulsion were optically tracked by video imaging and bright-field microscopy. The results from direct optical tracking agreed with those from PET tracking, demonstrating that PET is a suitable technique for the imaging of large populations of active micromotors in opaque environments, thus opening opportunities for the use of this mature imaging technology for the in vivo localization of artificial swimmers.
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Affiliation(s)
- Diana Vilela
- Institute for Bioengineering of Catalonia (IBEC), The Barcelona Institute of Science and Technology , Baldiri Reixac 10-12, 08028 Barcelona, Spain
- Max Planck Institute for Intelligent Systems Institution , Heisenbergstraße 3, 70569 Stuttgart, Germany
| | - Unai Cossío
- Radiochemistry and Nuclear Imaging Group, CIC biomaGUNE , Paseo Miramón 182, 20014 San Sebastián, Spain
| | - Jemish Parmar
- Institute for Bioengineering of Catalonia (IBEC), The Barcelona Institute of Science and Technology , Baldiri Reixac 10-12, 08028 Barcelona, Spain
- Max Planck Institute for Intelligent Systems Institution , Heisenbergstraße 3, 70569 Stuttgart, Germany
| | | | - Vanessa Gómez-Vallejo
- Radiochemistry and Nuclear Imaging Group, CIC biomaGUNE , Paseo Miramón 182, 20014 San Sebastián, Spain
| | - Jordi Llop
- Radiochemistry and Nuclear Imaging Group, CIC biomaGUNE , Paseo Miramón 182, 20014 San Sebastián, Spain
| | - Samuel Sánchez
- Institute for Bioengineering of Catalonia (IBEC), The Barcelona Institute of Science and Technology , Baldiri Reixac 10-12, 08028 Barcelona, Spain
- Max Planck Institute for Intelligent Systems Institution , Heisenbergstraße 3, 70569 Stuttgart, Germany
- Institució Catalana de Recerca i Estudis Avancats (ICREA) , Pg. Lluís Companys 23, 08010 Barcelona, Spain
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Park BW, Zhuang J, Yasa O, Sitti M. Multifunctional Bacteria-Driven Microswimmers for Targeted Active Drug Delivery. ACS NANO 2017; 11:8910-8923. [PMID: 28873304 DOI: 10.1021/acsnano.7b03207] [Citation(s) in RCA: 166] [Impact Index Per Article: 23.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/11/2023]
Abstract
High-performance, multifunctional bacteria-driven microswimmers are introduced using an optimized design and fabrication method for targeted drug delivery applications. These microswimmers are made of mostly single Escherichia coli bacterium attached to the surface of drug-loaded polyelectrolyte multilayer (PEM) microparticles with embedded magnetic nanoparticles. The PEM drug carriers are 1 μm in diameter and are intentionally fabricated with a more viscoelastic material than the particles previously studied in the literature. The resulting stochastic microswimmers are able to swim at mean speeds of up to 22.5 μm/s. They can be guided and targeted to specific cells, because they exhibit biased and directional motion under a chemoattractant gradient and a magnetic field, respectively. Moreover, we demonstrate the microswimmers delivering doxorubicin anticancer drug molecules, encapsulated in the polyelectrolyte multilayers, to 4T1 breast cancer cells under magnetic guidance in vitro. The results reveal the feasibility of using these active multifunctional bacteria-driven microswimmers to perform targeted drug delivery with significantly enhanced drug transfer, when compared with the passive PEM microparticles.
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Affiliation(s)
- Byung-Wook Park
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems , 70569 Stuttgart, Germany
| | - Jiang Zhuang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems , 70569 Stuttgart, Germany
| | - Oncay Yasa
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems , 70569 Stuttgart, Germany
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems , 70569 Stuttgart, Germany
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