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Jones LS, Filippi M, Michelis MY, Balciunaite A, Yasa O, Aviel G, Narciso M, Freedrich S, Generali M, Tzahor E, Katzschmann RK. Multidirectional Filamented Light Biofabrication Creates Aligned and Contractile Cardiac Tissues. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024:e2404509. [PMID: 39373330 DOI: 10.1002/advs.202404509] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/26/2024] [Revised: 08/05/2024] [Indexed: 10/08/2024]
Abstract
Biofabricating 3D cardiac tissues that mimic the native myocardial tissue is a pivotal challenge in tissue engineering. In this study, we fabricate 3D cardiac tissues with controlled, multidirectional cellular alignment and directed or twisting contractility. We show that multidirectional filamented light can be used to biofabricate high-density (up to 60 × 106 cells mL-1) tissues, with directed uniaxial contractility (3.8x) and improved cell-to-cell connectivity (1.6x gap junction expression). Furthermore, by using multidirectional light projection, we can partially overcome cell-induced light attenuation, and fabricate larger tissues with multidirectional cellular alignment. For example, we fabricate a tri-layered myocardium-like tissue and a bi-layered tissue with torsional contractility. The approach provides a new strategy to rapidly fabricate aligned cardiac tissues relevant to regenerative medicine and biohybrid robotics.
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Affiliation(s)
- Lewis S Jones
- Soft Robotics Laboratory, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Miriam Filippi
- Soft Robotics Laboratory, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Mike Yan Michelis
- Soft Robotics Laboratory, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Aiste Balciunaite
- Soft Robotics Laboratory, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Oncay Yasa
- Soft Robotics Laboratory, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
| | - Gal Aviel
- Department of Molecular Cell Biology, Weizmann Institute of Science, Rehovot, 76100, Israel
| | - Maria Narciso
- Swiss Federal Laboratories for Materials Science and Technology (EMPA), Dubendorf, 8600, Switzerland
- Experimental Continuum Mechanics, ETH Zurich, Leonhardstrasse 21, Zurich, 8092, Switzerland
| | - Susanne Freedrich
- ETH Phenomics Center, ETH Zurich, Otto-Stern-Weg 7, Zurich, 8093, Switzerland
| | - Melanie Generali
- Institute for Regenerative Medicine (IREM), University of Zurich, Schlieren, 8952, Switzerland
| | - Eldad Tzahor
- Department of Molecular Cell Biology, Weizmann Institute of Science, Rehovot, 76100, Israel
| | - Robert K Katzschmann
- Soft Robotics Laboratory, ETH Zurich, Tannenstrasse 3, Zurich, 8092, Switzerland
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2
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Tetsuka H, Gobbi S, Hatanaka T, Pirrami L, Shin SR. Wirelessly steerable bioelectronic neuromuscular robots adapting neurocardiac junctions. Sci Robot 2024; 9:eado0051. [PMID: 39321274 DOI: 10.1126/scirobotics.ado0051] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/11/2024] [Accepted: 08/26/2024] [Indexed: 09/27/2024]
Abstract
Biological motions of native muscle tissues rely on the nervous system to interface movement with the surrounding environment. The neural innervation of muscles, crucial for regulating movement, is the fundamental infrastructure for swiftly responding to changes in body tissue requirements. This study introduces a bioelectronic neuromuscular robot integrated with the motor nervous system through electrical synapses to evoke cardiac muscle activities and steer robotic motion. Serving as an artificial brain and wirelessly regulating selective neural activation to initiate robot fin motion, a wireless frequency multiplexing bioelectronic device is used to control the robot. Frequency multiplexing bioelectronics enables the control of the robot locomotion speed and direction by modulating the flapping of the robot fins through the wireless motor innervation of cardiac muscles. The robots demonstrated an average locomotion speed of ~0.52 ± 0.22 millimeters per second, fin-flapping frequency up to 2.0 hertz, and turning locomotion path curvature of ~0.11 ± 0.04 radians per millimeter. These systems will contribute to the expansion of biohybrid machines into the brain-to-motor frontier for developing autonomous biohybrid systems capable of advanced adaptive motor control and learning.
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Affiliation(s)
- Hiroyuki Tetsuka
- Division of Engineering in Medicine, Department of Medicine, Brigham and Women's Hospital, Harvard Medical School, 65 Lansdowne Street, Cambridge, MA 02139, USA
- Research Strategy Office, Toyota Research Institute of North America, Toyota Motor North America, 1555 Woodridge Avenue, Ann Arbor, MI 48105, USA
| | - Samuele Gobbi
- iPrint Institute, HEIA-FR, HES-SO University of Applied Sciences and Arts Western Switzerland, Fribourg 1700, Switzerland
| | - Takaaki Hatanaka
- Division of Engineering in Medicine, Department of Medicine, Brigham and Women's Hospital, Harvard Medical School, 65 Lansdowne Street, Cambridge, MA 02139, USA
- Research Strategy Office, Toyota Research Institute of North America, Toyota Motor North America, 1555 Woodridge Avenue, Ann Arbor, MI 48105, USA
| | - Lorenzo Pirrami
- iPrint Institute, HEIA-FR, HES-SO University of Applied Sciences and Arts Western Switzerland, Fribourg 1700, Switzerland
| | - Su Ryon Shin
- Division of Engineering in Medicine, Department of Medicine, Brigham and Women's Hospital, Harvard Medical School, 65 Lansdowne Street, Cambridge, MA 02139, USA
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3
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Bawa M, Raman R. Taking control: Steering the future of biohybrid robots. Sci Robot 2024; 9:eadr9299. [PMID: 39321278 DOI: 10.1126/scirobotics.adr9299] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/27/2024] [Accepted: 08/29/2024] [Indexed: 09/27/2024]
Abstract
Innovations in control mechanisms for muscle-powered robots are advancing the sophistication of biohybrid machines.
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Affiliation(s)
- Maheera Bawa
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA
| | - Ritu Raman
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA
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4
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Mishra AK, Kim J, Baghdadi H, Johnson BR, Hodge KT, Shepherd RF. Sensorimotor control of robots mediated by electrophysiological measurements of fungal mycelia. Sci Robot 2024; 9:eadk8019. [PMID: 39196952 DOI: 10.1126/scirobotics.adk8019] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/11/2023] [Accepted: 07/30/2024] [Indexed: 08/30/2024]
Abstract
Living tissues are still far from being used as practical components in biohybrid robots because of limitations in life span, sensitivity to environmental factors, and stringent culture procedures. Here, we introduce fungal mycelia as an easy-to-use and robust living component in biohybrid robots. We constructed two biohybrid robots that use the electrophysiological activity of living mycelia to control their artificial actuators. The mycelia sense their environment and issue action potential-like spiking voltages as control signals to the motors and valves of the robots that we designed and built. The paper highlights two key innovations: first, a vibration- and electromagnetic interference-shielded mycelium electrical interface that allows for stable, long-term electrophysiological bioelectric recordings during untethered, mobile operation; second, a control architecture for robots inspired by neural central pattern generators, incorporating rhythmic patterns of positive and negative spikes from the living mycelia. We used these signals to control a walking soft robot as well as a wheeled hard one. We also demonstrated the use of mycelia to respond to environmental cues by using ultraviolet light stimulation to augment the robots' gaits.
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Affiliation(s)
- Anand Kumar Mishra
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853, USA
| | - Jaeseok Kim
- Department of Industrial Engineering, University of Florence, Florence, Tuscany 50139, Italy
| | - Hannah Baghdadi
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853, USA
| | - Bruce R Johnson
- Department of Neurobiology and Behavior, Cornell University, Ithaca, NY 14853, USA
| | - Kathie T Hodge
- Plant Pathology and Plant-Microbe Biology Section, School of Integrative Plant Science, Cornell University, Ithaca, NY 14853, USA
| | - Robert F Shepherd
- Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14853, USA
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5
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Mestre R, Astobiza AM, Webster-Wood VA, Ryan M, Saif MTA. Ethics and responsibility in biohybrid robotics research. Proc Natl Acad Sci U S A 2024; 121:e2310458121. [PMID: 39042690 PMCID: PMC11294997 DOI: 10.1073/pnas.2310458121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 07/25/2024] Open
Abstract
The industrial revolution of the 19th century marked the onset of an era of machines and robots that transformed societies. Since the beginning of the 21st century, a new generation of robots envisions similar societal transformation. These robots are biohybrid: part living and part engineered. They may self-assemble and emerge from complex interactions between living cells. While this new era of living robots presents unprecedented opportunities for positive societal impact, it also poses a host of ethical challenges. A systematic, nuanced examination of these ethical issues is of paramount importance to guide the evolution of this nascent field. Multidisciplinary fields face the challenge that inertia around collective action to address ethical boundaries may result in unexpected consequences for researchers and societies alike. In this Perspective, we i) clarify the ethical challenges associated with biohybrid robotics, ii) discuss the need for and elements of a potential governance framework tailored to this technology; and iii) propose tangible steps toward ethical compliance and policy formation in the field of biohybrid robotics.
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Affiliation(s)
- Rafael Mestre
- Agents, Interaction and Complexity Group, School of Electronics and Computer Science, University of Southampton, SouthamptonSO17 1BJ, United Kingdom
- Politics and International Relations Department, University of Southampton, SouthamptonSO17 1BJ, United Kingdom
- Centre for Democratic Futures, University of Southampton, SouthamptonSO17 1BJ, United Kingdom
- Centre for Robotics, University of Southampton, SouthamptonSO17 1BJ, United Kingdom
- Institute for Life Sciences, University of Southampton, SouthamptonSO17 1BJ, United Kingdom
| | - Aníbal M. Astobiza
- Department of Public Law, University of the Basque Country/Euskal Herriko Unibertsitatea, Donostia20018, Spain
| | - Victoria A. Webster-Wood
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh15213, Pennsylvania
- Department of Biomedical Engineering, Carnegie Mellon University, Pittsburgh15213, Pennsylvania
- The Robotics Institute, Carnegie Mellon University, Pittsburgh15213, Pennsylvania
- The McGowan Institute for Regenerative Medicine, University of Pittsburgh, Pittsburgh15213, Pennsylvania
| | - Matt Ryan
- Politics and International Relations Department, University of Southampton, SouthamptonSO17 1BJ, United Kingdom
- Centre for Democratic Futures, University of Southampton, SouthamptonSO17 1BJ, United Kingdom
- Democratic Innovations Research Unit, Goethe-Universität, Frankfurt am Main60323, Germany
| | - M. Taher A. Saif
- Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana61801, Illinois
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6
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Morita T, Nie M, Takeuchi S. Human induced pluripotent stem cell-derived cardiac muscle rings for biohybrid self-beating actuator. LAB ON A CHIP 2024; 24:3377-3387. [PMID: 38916038 DOI: 10.1039/d4lc00276h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/26/2024]
Abstract
Cardiac muscle, a subtype of striated muscle composing our heart, has garnered attention as a source of autonomously driven actuators due to its inherent capability for spontaneous contraction. However, conventional cardiac biohybrid robots have utilized planar (2D) cardiac tissue consisting of a thin monolayer of cardiac myotubes with a thickness of 3-5 μm, which can generate a limited contractile force per unit footprint. In this study, 3D cardiac muscle rings were proposed as robotic actuator units. These units not only exhibit higher contractile force per unit footprint compared to their 2D counterparts due to their increased height, but they can also be integrated into desired 3D configurations. We fabricated cardiac muscle rings from human induced pluripotent stem cell-derived cardiomyocytes (hiPSC-CMs), evaluated their driving characteristics, and verified the actuation effects by integrating them with artificial components. After the 10th day from culture, the cardiac muscle rings exhibited rhythmic spontaneous contraction and increased contractile force in response to stretching stimuli. Furthermore, after constructing a centimeter-sized biohybrid self-beating actuator with an antagonistic pair structure of cardiac muscle rings, the periodic antagonistic beating motion at its tail portion was confirmed. We believe that 3D cardiac muscle rings, possessing high contractile force and capable of being positioned within limited 3D space, can be used as potent biohybrid robotic actuators.
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Affiliation(s)
- Tomohiro Morita
- Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 113-8656, Japan.
| | - Minghao Nie
- Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 113-8656, Japan.
| | - Shoji Takeuchi
- Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 113-8656, Japan.
- Institude of Industrial Science (IIS), The University of Tokyo, 153-8505, Japan
- International Research Center for Neurointelligence (WPI-IRCN), the University of Tokyo Institutes for Advanced Study (UTIAS), 113-0033, Japan
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7
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Sartori P, Yadav RS, del Barrio J, DeSimone A, Sánchez‐Somolinos C. Photochemically Induced Propulsion of a 4D Printed Liquid Crystal Elastomer Biomimetic Swimmer. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2308561. [PMID: 38590131 PMCID: PMC11220691 DOI: 10.1002/advs.202308561] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/09/2023] [Revised: 01/16/2024] [Indexed: 04/10/2024]
Abstract
Underwater organisms exhibit sophisticated propulsion mechanisms, enabling them to navigate fluid environments with exceptional dexterity. Recently, substantial efforts have focused on integrating these movements into soft robots using smart shape-changing materials, particularly by using light for their propulsion and control. Nonetheless, challenges persist, including slow response times and the need of powerful light beams to actuate the robot. This last can result in unintended sample heating and potentially necessitate tracking specific actuation spots on the swimmer. To tackle these challenges, new azobenzene-containing photopolymerizable inks are introduced, which can be processed by extrusion printing into liquid crystalline elastomer (LCE) elements of precise shape and morphology. These LCEs exhibit rapid and significant photomechanical response underwater, driven by moderate-intensity ultraviolet (UV) and green light, being the actuation mechanism predominantly photochemical. Inspired by nature, a biomimetic four-lapped ephyra-like LCE swimmer is printed. The periodically illumination of the entire swimmer with moderate-intensity UV and green light, induces synchronous lappet bending toward the light source and swimmer propulsion away from the light. The platform eliminates the need of localized laser beams and tracking systems to monitor the swimmer's motion through the fluid, making it a versatile tool for creating light-fueled robotic LCE free-swimmers.
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Affiliation(s)
- Paolo Sartori
- Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC‐Universidad de ZaragozaDepartamento de Física de la Materia CondensadaZaragoza50009Spain
| | - Rahul Singh Yadav
- Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC‐Universidad de ZaragozaDepartamento de Química OrgánicaZaragoza50009Spain
| | - Jesús del Barrio
- Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC‐Universidad de ZaragozaDepartamento de Química OrgánicaZaragoza50009Spain
| | - Antonio DeSimone
- The BioRobotics InstituteScuola Superiore Sant'AnnaPisa56127Italy
- SISSA‐Scuola Internazionale Superiore di Studi AvanzatiTrieste34136Italy
| | - Carlos Sánchez‐Somolinos
- Instituto de Nanociencia y Materiales de Aragón (INMA), CSIC‐Universidad de ZaragozaDepartamento de Física de la Materia CondensadaZaragoza50009Spain
- Centro de Investigación Biomédica en Red de Bioingeniería, Biomateriales y NanomedicinaInstituto de Salud Carlos IIIZaragoza50018Spain
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8
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Raman R. Biofabrication of Living Actuators. Annu Rev Biomed Eng 2024; 26:223-245. [PMID: 38959387 DOI: 10.1146/annurev-bioeng-110122-013805] [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] [Indexed: 07/05/2024]
Abstract
The impact of tissue engineering has extended beyond a traditional focus in medicine to the rapidly growing realm of biohybrid robotics. Leveraging living actuators as functional components in machines has been a central focus of this field, generating a range of compelling demonstrations of robots capable of muscle-powered swimming, walking, pumping, gripping, and even computation. In this review, we highlight key advances in fabricating tissue-scale cardiac and skeletal muscle actuators for a range of functional applications. We discuss areas for future growth including scalable manufacturing, integrated feedback control, and predictive modeling and also propose methods for ensuring inclusive and bioethics-focused pedagogy in this emerging discipline. We hope this review motivates the next generation of biomedical engineers to advance rational design and practical use of living machines for applications ranging from telesurgery to manufacturing to on- and off-world exploration.
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Affiliation(s)
- Ritu Raman
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA;
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9
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Liu Z, Jia J, Lei Q, Wei Y, Hu Y, Lian X, Zhao L, Xie X, Bai H, He X, Si L, Livermore C, Kuang R, Zhang Y, Wang J, Yu Z, Ma X, Huang D. Electrohydrodynamic Direct-Writing Micro/Nanofibrous Architectures: Principle, Materials, and Biomedical Applications. Adv Healthc Mater 2024:e2400930. [PMID: 38847291 DOI: 10.1002/adhm.202400930] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/12/2024] [Revised: 05/21/2024] [Indexed: 07/05/2024]
Abstract
Electrohydrodynamic (EHD) direct-writing has recently gained attention as a highly promising additive manufacturing strategy for fabricating intricate micro/nanoscale architectures. This technique is particularly well-suited for mimicking the extracellular matrix (ECM) present in biological tissue, which serves a vital function in facilitating cell colonization, migration, and growth. The integration of EHD direct-writing with other techniques has been employed to enhance the biological performance of scaffolds, and significant advancements have been made in the development of tailored scaffold architectures and constituents to meet the specific requirements of various biomedical applications. Here, a comprehensive overview of EHD direct-writing is provided, including its underlying principles, demonstrated materials systems, and biomedical applications. A brief chronology of EHD direct-writing is provided, along with an examination of the observed phenomena that occur during the printing process. The impact of biomaterial selection and architectural topographic cues on biological performance is also highlighted. Finally, the major limitations associated with EHD direct-writing are discussed.
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Affiliation(s)
- Zhengjiang Liu
- Department of Biomedical Engineering, Research Center for Nano-biomaterials & Regenerative Medicine, College of biomedical Engineering, Taiyuan University of Technology, Taiyuan, 030024, P. R. China
| | - Jinqiao Jia
- Department of Biomedical Engineering, Research Center for Nano-biomaterials & Regenerative Medicine, College of biomedical Engineering, Taiyuan University of Technology, Taiyuan, 030024, P. R. China
| | - Qi Lei
- Department of Biomedical Engineering, Research Center for Nano-biomaterials & Regenerative Medicine, College of biomedical Engineering, Taiyuan University of Technology, Taiyuan, 030024, P. R. China
- Shanxi-Zheda Institute of advanced Materials and Chemical Engineering, Taiyuan, 030032, P. R. China
| | - Yan Wei
- Department of Biomedical Engineering, Research Center for Nano-biomaterials & Regenerative Medicine, College of biomedical Engineering, Taiyuan University of Technology, Taiyuan, 030024, P. R. China
- Shanxi-Zheda Institute of advanced Materials and Chemical Engineering, Taiyuan, 030032, P. R. China
| | - Yinchun Hu
- Department of Biomedical Engineering, Research Center for Nano-biomaterials & Regenerative Medicine, College of biomedical Engineering, Taiyuan University of Technology, Taiyuan, 030024, P. R. China
- Shanxi-Zheda Institute of advanced Materials and Chemical Engineering, Taiyuan, 030032, P. R. China
| | - Xiaojie Lian
- Department of Biomedical Engineering, Research Center for Nano-biomaterials & Regenerative Medicine, College of biomedical Engineering, Taiyuan University of Technology, Taiyuan, 030024, P. R. China
- Shanxi-Zheda Institute of advanced Materials and Chemical Engineering, Taiyuan, 030032, P. R. China
| | - Liqin Zhao
- Department of Biomedical Engineering, Research Center for Nano-biomaterials & Regenerative Medicine, College of biomedical Engineering, Taiyuan University of Technology, Taiyuan, 030024, P. R. China
- Shanxi-Zheda Institute of advanced Materials and Chemical Engineering, Taiyuan, 030032, P. R. China
| | - Xin Xie
- Xellar Biosystems, Cambridge, MA, 02458, USA
| | - Haiqing Bai
- Xellar Biosystems, Cambridge, MA, 02458, USA
| | - Xiaomin He
- Xellar Biosystems, Cambridge, MA, 02458, USA
| | - Longlong Si
- Key Laboratory of Quantitative Synthetic Biology, Shenzhen Institute of Synthetic Biology, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, 518055, P. R. China
| | - Carol Livermore
- Department of Mechanical and Industrial Engineering, Northeastern University, Boston, MA, 02115, USA
| | - Rong Kuang
- Zhejiang Institute for Food and Drug Control, Hangzhou, 310000, P. R. China
| | - Yi Zhang
- Biotherapy Center and Cancer Center, The First Affiliated Hospital of Zhengzhou University, Zhengzhou, Henan, 450052, P. R. China
| | - Jiucun Wang
- Human Phenome Institute, Fudan University, Shanghai, 200433, P. R. China
| | - Zhaoyan Yu
- Shandong Public Health Clinical Center, Shandong University, Jinan, 250000, P. R. China
| | - Xudong Ma
- Cytori Therapeutics LLC., Shanghai, 201802, P. R. China
| | - Di Huang
- Department of Biomedical Engineering, Research Center for Nano-biomaterials & Regenerative Medicine, College of biomedical Engineering, Taiyuan University of Technology, Taiyuan, 030024, P. R. China
- Shanxi-Zheda Institute of advanced Materials and Chemical Engineering, Taiyuan, 030032, P. R. China
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10
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Wu S, Zhao T, Zhu Y, Paulino GH. Modular multi-degree-of-freedom soft origami robots with reprogrammable electrothermal actuation. Proc Natl Acad Sci U S A 2024; 121:e2322625121. [PMID: 38709915 PMCID: PMC11098090 DOI: 10.1073/pnas.2322625121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/22/2023] [Accepted: 03/12/2024] [Indexed: 05/08/2024] Open
Abstract
Soft robots often draw inspiration from nature to navigate different environments. Although the inching motion and crawling motion of caterpillars have been widely studied in the design of soft robots, the steering motion with local bending control remains challenging. To address this challenge, we explore modular origami units which constitute building blocks for mimicking the segmented caterpillar body. Based on this concept, we report a modular soft Kresling origami crawling robot enabled by electrothermal actuation. A compact and lightweight Kresling structure is designed, fabricated, and characterized with integrated thermal bimorph actuators consisting of liquid crystal elastomer and polyimide layers. With the modular design and reprogrammable actuation, a multiunit caterpillar-inspired soft robot composed of both active units and passive units is developed for bidirectional locomotion and steering locomotion with precise curvature control. We demonstrate the modular design of the Kresling origami robot with an active robotic module picking up cargo and assembling with another robotic module to achieve a steering function. The concept of modular soft robots can provide insight into future soft robots that can grow, repair, and enhance functionality.
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Affiliation(s)
- Shuang Wu
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC27695
| | - Tuo Zhao
- Department of Civil and Environmental Engineering, Princeton University, Princeton, NJ08544
| | - Yong Zhu
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC27695
| | - Glaucio H. Paulino
- Department of Civil and Environmental Engineering, Princeton University, Princeton, NJ08544
- Princeton Materials Institute, Princeton University, Princeton, NJ08544
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11
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Ohdera AH, Mansbridge M, Wang M, Naydenkov P, Kamel B, Goentoro L. The microbiome of a Pacific moon jellyfish Aurelia coerulea. PLoS One 2024; 19:e0298002. [PMID: 38635587 PMCID: PMC11025843 DOI: 10.1371/journal.pone.0298002] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/30/2023] [Accepted: 01/16/2024] [Indexed: 04/20/2024] Open
Abstract
The impact of microbiome in animal physiology is well appreciated, but characterization of animal-microbe symbiosis in marine environments remains a growing need. This study characterizes the microbial communities associated with the moon jellyfish Aurelia coerulea, first isolated from the East Pacific Ocean and has since been utilized as an experimental system. We find that the microbiome of this Pacific Aurelia culture is dominated by two taxa, a Mollicutes and Rickettsiales. The microbiome is stable across life stages, although composition varies. Mining the host sequencing data, we assembled the bacterial metagenome-assembled genomes (MAGs). The bacterial MAGs are highly reduced, and predict a high metabolic dependence on the host. Analysis using multiple metrics suggest that both bacteria are likely new species. We therefore propose the names Ca. Mariplasma lunae (Mollicutes) and Ca. Marinirickettsia aquamalans (Rickettsiales). Finally, comparison with studies of Aurelia from other geographical populations suggests the association with Ca. Mariplasma lunae occurs in Aurelia from multiple geographical locations. The low-diversity microbiome of Aurelia provides a relatively simple system to study host-microbe interactions.
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Affiliation(s)
- Aki H. Ohdera
- Division of Biology and Biological Engineering, California Institute of Technology, Pasadena, CA, United States of America
- National Museum of Natural History, Smithsonian Institute, Washington, D.C., United States of America
| | | | - Matthew Wang
- Flintridge Preparatory School, La Cañada Flintridge, CA, United States of America
| | - Paulina Naydenkov
- Division of Biology and Biological Engineering, California Institute of Technology, Pasadena, CA, United States of America
| | - Bishoy Kamel
- US Department of Energy Joint Genome Institute, Lawrence Berkeley National Laboratory, Berkeley, CA, United States of America
| | - Lea Goentoro
- Division of Biology and Biological Engineering, California Institute of Technology, Pasadena, CA, United States of America
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12
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Wang Y, Xuan H, Zhang L, Huang H, Neisiany RE, Zhang H, Gu S, Guan Q, You Z. 4D Printed Non-Euclidean-Plate Jellyfish Inspired Soft Robot in Diverse Organic Solvents. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2313761. [PMID: 38211632 DOI: 10.1002/adma.202313761] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/16/2023] [Revised: 01/07/2024] [Indexed: 01/13/2024]
Abstract
Soft robots have the potential to assist and complement human exploration of extreme and harsh environments (i.e., organic solvents). However, soft robots with stable performance in diverse organic solvents are not developed yet. In the current research, a non-Euclidean-plate under-liquid soft robot inspired by jellyfish based on phototropic liquid crystal elastomers is fabricated via a 4D-programmable strategy. Specifically, the robot employs a 3D-printed non-Euclidean-plate, designed with Archimedean orientation, which undergoes autonomous deformation to release internal stress when immersed in organic solvents. With the assistance of near-infrared light illumination, the organic solvent inside the robot vaporizes and generates propulsion in the form of bubble streams. The developed NEP-Jelly-inspired soft robot can swim with a high degree of freedom in various organic solvents, for example, N, N-dimethylformamide, N, N-dimethylacetamide, tetrahydrofuran, dichloromethane, and trichloromethane, which is not reported before. Besides bionic jellyfish, various aquatic invertebrate-inspired soft robots can potentially be prepared via a similar 4D-programmable strategy.
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Affiliation(s)
- Yang Wang
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, Institute of Functional Materials, College of Materials Science and Engineering, Research Base of Textile Materials for Flexible Electronics and Biomedical Applications (China Textile Engineering Society), Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, Donghua University, Shanghai, 201620, P. R. China
| | - Huixia Xuan
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, Institute of Functional Materials, College of Materials Science and Engineering, Research Base of Textile Materials for Flexible Electronics and Biomedical Applications (China Textile Engineering Society), Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, Donghua University, Shanghai, 201620, P. R. China
| | - Luzhi Zhang
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, Institute of Functional Materials, College of Materials Science and Engineering, Research Base of Textile Materials for Flexible Electronics and Biomedical Applications (China Textile Engineering Society), Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, Donghua University, Shanghai, 201620, P. R. China
| | - Hongfei Huang
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, Institute of Functional Materials, College of Materials Science and Engineering, Research Base of Textile Materials for Flexible Electronics and Biomedical Applications (China Textile Engineering Society), Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, Donghua University, Shanghai, 201620, P. R. China
| | - Rasoul Esmaeely Neisiany
- Department of Materials and Polymer Engineering, Faculty of Engineering, Hakim Sabzevari University, Sabzevar, 9617976487, Iran
- Biotechnology Centre, Silesian University of Technology, Krzywoustego 8, Gliwice, 44-100, Poland
| | - Haiyang Zhang
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, Institute of Functional Materials, College of Materials Science and Engineering, Research Base of Textile Materials for Flexible Electronics and Biomedical Applications (China Textile Engineering Society), Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, Donghua University, Shanghai, 201620, P. R. China
| | - Shijia Gu
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, Institute of Functional Materials, College of Materials Science and Engineering, Research Base of Textile Materials for Flexible Electronics and Biomedical Applications (China Textile Engineering Society), Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, Donghua University, Shanghai, 201620, P. R. China
| | - Qingbao Guan
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, Institute of Functional Materials, College of Materials Science and Engineering, Research Base of Textile Materials for Flexible Electronics and Biomedical Applications (China Textile Engineering Society), Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, Donghua University, Shanghai, 201620, P. R. China
| | - Zhengwei You
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, Institute of Functional Materials, College of Materials Science and Engineering, Research Base of Textile Materials for Flexible Electronics and Biomedical Applications (China Textile Engineering Society), Shanghai Engineering Research Center of Nano-Biomaterials and Regenerative Medicine, Donghua University, Shanghai, 201620, P. R. China
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13
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Anuszczyk SR, Dabiri JO. Electromechanical enhancement of live jellyfish for ocean exploration. BIOINSPIRATION & BIOMIMETICS 2024; 19:026018. [PMID: 38330441 DOI: 10.1088/1748-3190/ad277f] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/30/2023] [Accepted: 02/08/2024] [Indexed: 02/10/2024]
Abstract
The vast majority of the ocean's volume remains unexplored, in part because of limitations on the vertical range and measurement duration of existing robotic platforms. In light of the accelerating rate of climate change impacts on the physics and biogeochemistry of the ocean, the need for new tools that can measure more of the ocean on faster timescales is becoming pressing. Robotic platforms inspired or enabled by aquatic organisms have the potential to augment conventional technologies for ocean exploration. Recent work demonstrated the feasibility of directly stimulating the muscle tissue of live jellyfish via implanted microelectronics. We present a biohybrid robotic jellyfish that leverages this external electrical swimming control, while also using a 3D printed passive mechanical attachment to streamline the jellyfish shape, increase swimming performance, and significantly enhance payload capacity. A six-meter-tall, 13 600 l saltwater facility was constructed to enable testing of the vertical swimming capabilities of the biohybrid robotic jellyfish over distances exceeding 35 body diameters. We found that the combination of external swimming control and the addition of the mechanical forebody resulted in an increase in swimming speeds to 4.5 times natural jellyfish locomotion. Moreover, the biohybrid jellyfish were capable of carrying a payload volume up to 105% of the jellyfish body volume. The added payload decreased the intracycle acceleration of the biohybrid robots relative to natural jellyfish, which could also facilitate more precise measurements by onboard sensors that depend on consistent platform motion. While many robotic exploration tools are limited by cost, energy expenditure, and varying oceanic environmental conditions, this platform is inexpensive, highly efficient, and benefits from the widespread natural habitats of jellyfish. The demonstrated performance of these biohybrid robots suggests an opportunity to expand the set of robotic tools for comprehensive monitoring of the changing ocean.
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Affiliation(s)
- Simon R Anuszczyk
- Graduate Aerospace Laboratories, California Institute of Technology, Pasadena, CA, United States of America
| | - John O Dabiri
- Graduate Aerospace Laboratories, California Institute of Technology, Pasadena, CA, United States of America
- Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, United States of America
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14
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Xie R, Cao Y, Sun R, Wang R, Morgan A, Kim J, Callens SJP, Xie K, Zou J, Lin J, Zhou K, Lu X, Stevens MM. Magnetically driven formation of 3D freestanding soft bioscaffolds. SCIENCE ADVANCES 2024; 10:eadl1549. [PMID: 38306430 PMCID: PMC10836728 DOI: 10.1126/sciadv.adl1549] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/03/2023] [Accepted: 01/04/2024] [Indexed: 02/04/2024]
Abstract
3D soft bioscaffolds have great promise in tissue engineering, biohybrid robotics, and organ-on-a-chip engineering applications. Though emerging three-dimensional (3D) printing techniques offer versatility for assembling soft biomaterials, challenges persist in overcoming the deformation or collapse of delicate 3D structures during fabrication, especially for overhanging or thin features. This study introduces a magnet-assisted fabrication strategy that uses a magnetic field to trigger shape morphing and provide remote temporary support, enabling the straightforward creation of soft bioscaffolds with overhangs and thin-walled structures in 3D. We demonstrate the versatility and effectiveness of our strategy through the fabrication of bioscaffolds that replicate the complex 3D topology of branching vascular systems. Furthermore, we engineered hydrogel-based bioscaffolds to support biohybrid soft actuators capable of walking motion triggered by cardiomyocytes. This approach opens new possibilities for shaping hydrogel materials into complex 3D morphologies, which will further empower a broad range of biomedical applications.
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Affiliation(s)
- Ruoxiao Xie
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Yuanxiong Cao
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
- Department of Physiology, Anatomy and Genetics, Kavli Institute for Nanoscience Discovery, University of Oxford, South Parks Road, Oxford, OX1 3QU, UK
| | - Rujie Sun
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Richard Wang
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Alexis Morgan
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Junyoung Kim
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Sebastien J P Callens
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Kai Xie
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Jiawen Zou
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Junliang Lin
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
- Department of Physiology, Anatomy and Genetics, Kavli Institute for Nanoscience Discovery, University of Oxford, South Parks Road, Oxford, OX1 3QU, UK
| | - Kun Zhou
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Xiangrong Lu
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
| | - Molly M Stevens
- Department of Materials, Department of Bioengineering and Institute of Biomedical Engineering, Imperial College London, London SW7 2AZ, UK
- Department of Physiology, Anatomy and Genetics, Kavli Institute for Nanoscience Discovery, University of Oxford, South Parks Road, Oxford, OX1 3QU, UK
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15
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Gumuskaya G, Srivastava P, Cooper BG, Lesser H, Semegran B, Garnier S, Levin M. Motile Living Biobots Self-Construct from Adult Human Somatic Progenitor Seed Cells. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024; 11:e2303575. [PMID: 38032125 PMCID: PMC10811512 DOI: 10.1002/advs.202303575] [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: 06/01/2023] [Revised: 10/31/2023] [Indexed: 12/01/2023]
Abstract
Fundamental knowledge gaps exist about the plasticity of cells from adult soma and the potential diversity of body shape and behavior in living constructs derived from genetically wild-type cells. Here anthrobots are introduced, a spheroid-shaped multicellular biological robot (biobot) platform with diameters ranging from 30 to 500 microns and cilia-powered locomotive abilities. Each Anthrobot begins as a single cell, derived from the adult human lung, and self-constructs into a multicellular motile biobot after being cultured in extra cellular matrix for 2 weeks and transferred into a minimally viscous habitat. Anthrobots exhibit diverse behaviors with motility patterns ranging from tight loops to straight lines and speeds ranging from 5-50 microns s-1 . The anatomical investigations reveal that this behavioral diversity is significantly correlated with their morphological diversity. Anthrobots can assume morphologies with fully polarized or wholly ciliated bodies and spherical or ellipsoidal shapes, each related to a distinct movement type. Anthrobots are found to be capable of traversing, and inducing rapid repair of scratches in, cultured human neural cell sheets in vitro. By controlling microenvironmental cues in bulk, novel structures, with new and unexpected behavior and biomedically-relevant capabilities, can be discovered in morphogenetic processes without direct genetic editing or manual sculpting.
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Affiliation(s)
- Gizem Gumuskaya
- Allen Discovery Center at Tufts Universityand Department of BiologyTufts UniversityMedfordMA02155USA
- Wyss Institute for Biologically Inspired EngineeringHarvard UniversityBostonMA02115USA
| | - Pranjal Srivastava
- Allen Discovery Center at Tufts Universityand Department of BiologyTufts UniversityMedfordMA02155USA
| | - Ben G. Cooper
- Allen Discovery Center at Tufts Universityand Department of BiologyTufts UniversityMedfordMA02155USA
| | - Hannah Lesser
- Allen Discovery Center at Tufts Universityand Department of BiologyTufts UniversityMedfordMA02155USA
| | - Ben Semegran
- Allen Discovery Center at Tufts Universityand Department of BiologyTufts UniversityMedfordMA02155USA
| | - Simon Garnier
- Federated Department of Biological SciencesNew Jersey Institute of TechnologyNewarkNJ07102USA
| | - Michael Levin
- Allen Discovery Center at Tufts Universityand Department of BiologyTufts UniversityMedfordMA02155USA
- Wyss Institute for Biologically Inspired EngineeringHarvard UniversityBostonMA02115USA
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16
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Gooshvar S, Madhu G, Ruszczyk M, Prakash VN. Non-Bilaterians as Model Systems for Tissue Mechanics. Integr Comp Biol 2023; 63:1442-1454. [PMID: 37355780 DOI: 10.1093/icb/icad074] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/03/2023] [Revised: 06/09/2023] [Accepted: 06/12/2023] [Indexed: 06/26/2023] Open
Abstract
In animals, epithelial tissues are barriers against the external environment, providing protection against biological, chemical, and physical damage. Depending on the organism's physiology and behavior, these tissues encounter different types of mechanical forces and need to provide a suitable adaptive response to ensure success. Therefore, understanding tissue mechanics in different contexts is an important research area. Here, we review recent tissue mechanics discoveries in three early divergent non-bilaterian systems-Trichoplax adhaerens, Hydra vulgaris, and Aurelia aurita. We highlight each animal's simple body plan and biology and unique, rapid tissue remodeling phenomena that play a crucial role in its physiology. We also discuss the emergent large-scale mechanics in these systems that arise from small-scale phenomena. Finally, we emphasize the potential of these non-bilaterian animals to be model systems in a bottom-up approach for further investigation in tissue mechanics.
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Affiliation(s)
- Setareh Gooshvar
- Department of Physics, College of Arts and Sciences, University of Miami, 33146 FL, USA
| | - Gopika Madhu
- Department of Physics, College of Arts and Sciences, University of Miami, 33146 FL, USA
| | - Melissa Ruszczyk
- Department of Physics, College of Arts and Sciences, University of Miami, 33146 FL, USA
| | - Vivek N Prakash
- Department of Physics, College of Arts and Sciences, University of Miami, 33146 FL, USA
- Department of Biology, College of Arts and Sciences, University of Miami, 33146 FL, USA
- Department of Marine Biology and Ecology, Rosenstiel School of Marine, Atmospheric and Earth Science, University of Miami, 33149 FL, USA
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17
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Venturino I, Vurro V, Bonfadini S, Moschetta M, Perotto S, Sesti V, Criante L, Bertarelli C, Lanzani G. Skeletal muscle cells opto-stimulation by intramembrane molecular transducers. Commun Biol 2023; 6:1148. [PMID: 37952040 PMCID: PMC10640616 DOI: 10.1038/s42003-023-05538-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/21/2023] [Accepted: 11/02/2023] [Indexed: 11/14/2023] Open
Abstract
Optical stimulation and control of muscle cell contraction opens up a number of interesting applications in hybrid robotic and medicine. Here we show that recently designed molecular phototransducer can be used to stimulate C2C12 skeletal muscle cells, properly grown to exhibit collective behaviour. C2C12 is a skeletal muscle cell line that does not require animal sacrifice Furthermore, it is an ideal cell model for evaluating the phototransducer pacing ability due to its negligible spontaneous activity. We study the stimulation process and analyse the distribution of responses in multinuclear cells, in particular looking at the consistency between stimulus and contraction. Contractions are detected by using an imaging software for object recognition. We find a deterministic response to light stimuli, yet with a certain distribution of erratic behaviour that is quantified and correlated to light intensity or stimulation frequency. Finally, we compare our optical stimulation with electrical stimulation showing advantages of the optical approach, like the reduced cell stress.
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Affiliation(s)
- Ilaria Venturino
- Dipartimento di Fisica, Politecnico di Milano, Milano, Italy
- Center for Nano Science and Technology, Istituto Italiano di Tecnologia, Milano, Italy
| | - Vito Vurro
- Center for Nano Science and Technology, Istituto Italiano di Tecnologia, Milano, Italy
| | - Silvio Bonfadini
- Center for Nano Science and Technology, Istituto Italiano di Tecnologia, Milano, Italy
| | - Matteo Moschetta
- Center for Nano Science and Technology, Istituto Italiano di Tecnologia, Milano, Italy
| | - Sara Perotto
- Center for Nano Science and Technology, Istituto Italiano di Tecnologia, Milano, Italy
| | - Valentina Sesti
- Center for Nano Science and Technology, Istituto Italiano di Tecnologia, Milano, Italy
- Dipartimento di Chimica, Materiali e Ingegneria Chimica "Giulio Natta" Politecnico di Milano, Milano, Italy
| | - Luigino Criante
- Center for Nano Science and Technology, Istituto Italiano di Tecnologia, Milano, Italy
| | - Chiara Bertarelli
- Center for Nano Science and Technology, Istituto Italiano di Tecnologia, Milano, Italy
- Dipartimento di Chimica, Materiali e Ingegneria Chimica "Giulio Natta" Politecnico di Milano, Milano, Italy
| | - Guglielmo Lanzani
- Dipartimento di Fisica, Politecnico di Milano, Milano, Italy.
- Center for Nano Science and Technology, Istituto Italiano di Tecnologia, Milano, Italy.
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18
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Bagheri R, Ball AK, Kasraie M, Chandra A, Chen X, Miskioglu I, Shan Z, Pour Shahid Saeed Abadi P. Conductive 3D nano-biohybrid systems based on densified carbon nanotube forests and living cells. JOURNAL OF MATERIALS RESEARCH 2023; 39:137-149. [PMID: 38223564 PMCID: PMC10784361 DOI: 10.1557/s43578-023-01163-x] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 04/13/2023] [Accepted: 09/08/2023] [Indexed: 01/16/2024]
Abstract
Conductive biohybrid cell-material systems have applications in bioelectronics and biorobotics. To date, conductive scaffolds are limited to those with low electrical conductivity or 2D sheets. Here, 3D biohybrid conductive systems are developed using fibroblasts or cardiomyocytes integrated with carbon nanotube (CNT) forests that are densified due to interactions with a gelatin coating. CNT forest scaffolds with a height range of 120-240 µm and an average electrical conductivity of 0.6 S/cm are developed and shown to be cytocompatible as evidenced from greater than 89% viability measured by live-dead assay on both cells on day 1. The cells spread on top and along the height of the CNT forest scaffolds. Finally, the scaffolds have no adverse effects on the expression of genes related to cardiomyocyte maturation and functionality, or fibroblast migration, adhesion, and spreading. The results show that the scaffold could be used in applications ranging from organ-on-a-chip systems to muscle actuators. Graphical abstract
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Affiliation(s)
- Roya Bagheri
- Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI 49931 USA
- Health Research Institute, Michigan Technological University, Houghton, MI 49931 USA
| | - Alicia K. Ball
- Chemical Engineering, Michigan Technological University, Houghton, MI 49931 USA
| | - Masoud Kasraie
- Materials Science and Engineering, Michigan Technological University, Houghton, MI 49931 USA
| | - Aparna Chandra
- Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI 49931 USA
| | - Xinqian Chen
- Health Research Institute, Michigan Technological University, Houghton, MI 49931 USA
- Kinesiology and Integrative Physiology, Michigan Technological University, Houghton, MI 49931 USA
| | - Ibrahim Miskioglu
- Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI 49931 USA
| | - Zhiying Shan
- Health Research Institute, Michigan Technological University, Houghton, MI 49931 USA
- Kinesiology and Integrative Physiology, Michigan Technological University, Houghton, MI 49931 USA
- Biomedical Engineering, Michigan Technological University, Houghton, MI 49931 USA
| | - Parisa Pour Shahid Saeed Abadi
- Mechanical Engineering-Engineering Mechanics, Michigan Technological University, Houghton, MI 49931 USA
- Health Research Institute, Michigan Technological University, Houghton, MI 49931 USA
- Materials Science and Engineering, Michigan Technological University, Houghton, MI 49931 USA
- Biomedical Engineering, Michigan Technological University, Houghton, MI 49931 USA
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19
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Leng Y, Li X, Zheng F, Liu H, Wang C, Wang X, Liao Y, Liu J, Meng K, Yu J, Zhang J, Wang B, Tan Y, Liu M, Jia X, Li D, Li Y, Gu Z, Fan Y. Advances in In Vitro Models of Neuromuscular Junction: Focusing on Organ-on-a-Chip, Organoids, and Biohybrid Robotics. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2211059. [PMID: 36934404 DOI: 10.1002/adma.202211059] [Citation(s) in RCA: 7] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/27/2022] [Revised: 02/18/2023] [Indexed: 06/18/2023]
Abstract
The neuromuscular junction (NMJ) is a peripheral synaptic connection between presynaptic motor neurons and postsynaptic skeletal muscle fibers that enables muscle contraction and voluntary motor movement. Many traumatic, neurodegenerative, and neuroimmunological diseases are classically believed to mainly affect either the neuronal or the muscle side of the NMJ, and treatment options are lacking. Recent advances in novel techniques have helped develop in vitro physiological and pathophysiological models of the NMJ as well as enable precise control and evaluation of its functions. This paper reviews the recent developments in in vitro NMJ models with 2D or 3D cultures, from organ-on-a-chip and organoids to biohybrid robotics. Related derivative techniques are introduced for functional analysis of the NMJ, such as the patch-clamp technique, microelectrode arrays, calcium imaging, and stimulus methods, particularly optogenetic-mediated light stimulation, microelectrode-mediated electrical stimulation, and biochemical stimulation. Finally, the applications of the in vitro NMJ models as disease models or for drug screening related to suitable neuromuscular diseases are summarized and their future development trends and challenges are discussed.
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Affiliation(s)
- Yubing Leng
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Xiaorui Li
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Fuyin Zheng
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Hui Liu
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Chunyan Wang
- State Key Laboratory of Space Medicine Fundamentals and Application, China Astronaut Research and Training Center, Beijing, 100094, China
- State Key Laboratory of Bioelectronics, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
| | - Xudong Wang
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Yulong Liao
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Jiangyue Liu
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Kaiqi Meng
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Jiaheng Yu
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Jingyi Zhang
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Binyu Wang
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Yingjun Tan
- State Key Laboratory of Space Medicine Fundamentals and Application, China Astronaut Research and Training Center, Beijing, 100094, China
| | - Meili Liu
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Xiaoling Jia
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Deyu Li
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
| | - Yinghui Li
- State Key Laboratory of Space Medicine Fundamentals and Application, China Astronaut Research and Training Center, Beijing, 100094, China
| | - Zhongze Gu
- State Key Laboratory of Bioelectronics, School of Biological Science and Medical Engineering, Southeast University, Nanjing, 210096, China
| | - Yubo Fan
- Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, Beijing Advanced Innovation Center for Biomedical Engineering, School of Biological Science and Medical Engineering, and with the School of Engineering Medicine, Beihang University, Beijing, 100083, China
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20
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Yuan Z, Guo Q, Jin D, Zhang P, Yang W. Biohybrid Soft Robots Powered by Myocyte: Current Progress and Future Perspectives. MICROMACHINES 2023; 14:1643. [PMID: 37630179 PMCID: PMC10456826 DOI: 10.3390/mi14081643] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/26/2023] [Revised: 08/17/2023] [Accepted: 08/19/2023] [Indexed: 08/27/2023]
Abstract
Myocyte-driven robots, a type of biological actuator that combines myocytes with abiotic systems, have gained significant attention due to their high energy efficiency, sensitivity, biocompatibility, and self-healing capabilities. These robots have a unique advantage in simulating the structure and function of human tissues and organs. This review covers the research progress in this field, detailing the benefits of myocyte-driven robots over traditional methods, the materials used in their fabrication (including myocytes and extracellular materials), and their properties and manufacturing techniques. Additionally, the review explores various control methods, robot structures, and motion types. Lastly, the potential applications and key challenges faced by myocyte-driven robots are discussed and summarized.
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Affiliation(s)
- Zheng Yuan
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (Z.Y.); (Q.G.)
| | - Qinghao Guo
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (Z.Y.); (Q.G.)
| | - Delu Jin
- School of Human Ities and Social Science, Xi’an Jiaotong University, Xi’an 710049, China;
| | - Peifan Zhang
- Control Science and Engineering, Naval Aviation University, Yantai 264001, China
| | - Wenguang Yang
- School of Electromechanical and Automotive Engineering, Yantai University, Yantai 264005, China; (Z.Y.); (Q.G.)
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21
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Wang Y, Li L, Ji YE, Wang T, Fu Y, Li X, Li G, Zheng T, Wu L, Han Q, Zhang Y, Wang Y, Kaplan DL, Lu Y. Silk-protein-based gradient hydrogels with multimode reprogrammable shape changes for biointegrated devices. Proc Natl Acad Sci U S A 2023; 120:e2305704120. [PMID: 37549277 PMCID: PMC10434304 DOI: 10.1073/pnas.2305704120] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/09/2023] [Accepted: 07/11/2023] [Indexed: 08/09/2023] Open
Abstract
Biocompatible and morphable hydrogels capable of multimode reprogrammable, and adaptive shape changes are potentially useful for diverse biomedical applications. However, existing morphable systems often rely on complicated structural designs involving cumbersome and energy-intensive fabrication processes. Here, we report a simple electric-field-activated protein network migration strategy to reversibly program silk-protein hydrogels with controllable and reprogrammable complex shape transformations. The application of a low electric field enables the convergence of net negatively charged protein cross-linking networks toward the anode (isoelectric point plane) due to the pH gradient generated in the process, facilitating the formation of a gradient network structure and systems suitable for three-dimensional shape change. These tunable protein networks can be reprogrammed or permanently fixed by control of the polymorphic transitions. We show that these morphing hydrogels are capable of conformally interfacing with biological tissues by programming the shape changes and a bimorph structure consisting of aligned carbon nanotube multilayers and the silk hydrogels was assembled to illustrate utility as an implantable bioelectronic device for localized low-voltage electrical stimulation of the sciatic nerve in a rabbit.
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Affiliation(s)
- Yushu Wang
- National Laboratory of Solid State Microstructures, Key Laboratory of Intelligent Optical Sensing and Manipulation, College of Engineering and Applied Sciences, and Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing210023, China
- Department of Biomedical Engineering, Tufts University, Medford, MA02155
| | - Luhe Li
- National Laboratory of Solid State Microstructures, Key Laboratory of Intelligent Optical Sensing and Manipulation, College of Engineering and Applied Sciences, and Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing210023, China
| | - Yue-E. Ji
- National Laboratory of Solid State Microstructures, Key Laboratory of Intelligent Optical Sensing and Manipulation, College of Engineering and Applied Sciences, and Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing210023, China
| | - Tao Wang
- National Laboratory of Solid State Microstructures, Key Laboratory of Intelligent Optical Sensing and Manipulation, College of Engineering and Applied Sciences, and Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing210023, China
| | - Yinghao Fu
- National Laboratory of Solid State Microstructures, Key Laboratory of Intelligent Optical Sensing and Manipulation, College of Engineering and Applied Sciences, and Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing210023, China
| | - Xinxin Li
- Department of Biomedical Engineering, Tufts University, Medford, MA02155
| | - Guicai Li
- Key Laboratory of Neuroregeneration, Collaborative Innovation Center of Neuroregeneration, Nantong University, Nantong226001, China
| | - Tiantian Zheng
- Key Laboratory of Neuroregeneration, Collaborative Innovation Center of Neuroregeneration, Nantong University, Nantong226001, China
| | - Linliang Wu
- Key Laboratory of Neuroregeneration, Collaborative Innovation Center of Neuroregeneration, Nantong University, Nantong226001, China
| | - Qi Han
- Key Laboratory of Neuroregeneration, Collaborative Innovation Center of Neuroregeneration, Nantong University, Nantong226001, China
| | - Ye Zhang
- National Laboratory of Solid State Microstructures, Key Laboratory of Intelligent Optical Sensing and Manipulation, College of Engineering and Applied Sciences, and Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing210023, China
| | - Yu Wang
- National Laboratory of Solid State Microstructures, Key Laboratory of Intelligent Optical Sensing and Manipulation, College of Engineering and Applied Sciences, and Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing210023, China
| | - David L. Kaplan
- Department of Biomedical Engineering, Tufts University, Medford, MA02155
| | - Yanqing Lu
- National Laboratory of Solid State Microstructures, Key Laboratory of Intelligent Optical Sensing and Manipulation, College of Engineering and Applied Sciences, and Collaborative Innovation Center of Advanced Microstructures, Nanjing University, Nanjing210023, China
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22
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Blackiston D, Kriegman S, Bongard J, Levin M. Biological Robots: Perspectives on an Emerging Interdisciplinary Field. Soft Robot 2023; 10:674-686. [PMID: 37083430 PMCID: PMC10442684 DOI: 10.1089/soro.2022.0142] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/22/2023] Open
Abstract
Advances in science and engineering often reveal the limitations of classical approaches initially used to understand, predict, and control phenomena. With progress, conceptual categories must often be re-evaluated to better track recently discovered invariants across disciplines. It is essential to refine frameworks and resolve conflicting boundaries between disciplines such that they better facilitate, not restrict, experimental approaches and capabilities. In this essay, we address specific questions and critiques which have arisen in response to our research program, which lies at the intersection of developmental biology, computer science, and robotics. In the context of biological machines and robots, we explore changes across concepts and previously distinct fields that are driven by recent advances in materials, information, and life sciences. Herein, each author provides their own perspective on the subject, framed by their own disciplinary training. We argue that as with computation, certain aspects of developmental biology and robotics are not tied to specific materials; rather, the consilience of these fields can help to shed light on issues of multiscale control, self-assembly, and relationships between form and function. We hope new fields can emerge as boundaries arising from technological limitations are overcome, furthering practical applications from regenerative medicine to useful synthetic living machines.
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Affiliation(s)
- Douglas Blackiston
- Department of Biology, Allen Discovery Center at Tufts University, Medford, Massachusetts, USA
- Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, Massachusetts, USA
- Institute for Computationally Designed Organisms, Massachusetts and Vermont, USA
| | - Sam Kriegman
- Institute for Computationally Designed Organisms, Massachusetts and Vermont, USA
- Center for Robotics and Biosystems, Northwestern University, Evanston, Illinois, USA
- Center for Synthetic Biology, Northwestern University, Evanston, Illinois, USA
| | - Josh Bongard
- Institute for Computationally Designed Organisms, Massachusetts and Vermont, USA
- Department of Computer Science, University of Vermont, Burlington, Vermont, USA
| | - Michael Levin
- Department of Biology, Allen Discovery Center at Tufts University, Medford, Massachusetts, USA
- Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, Massachusetts, USA
- Institute for Computationally Designed Organisms, Massachusetts and Vermont, USA
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23
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Matharu PS, Gong P, Guntaka KPR, Almubarak Y, Jin Y, Tadesse YT. Jelly-Z: swimming performance and analysis of twisted and coiled polymer (TCP) actuated jellyfish soft robot. Sci Rep 2023; 13:11086. [PMID: 37422482 PMCID: PMC10329702 DOI: 10.1038/s41598-023-37611-1] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/25/2022] [Accepted: 06/24/2023] [Indexed: 07/10/2023] Open
Abstract
Monitoring, sensing, and exploration of over 70% of the Earth's surface that is covered with water is permitted through the deployment of underwater bioinspired robots without affecting the natural habitat. To create a soft robot actuated with soft polymeric actuators, this paper describes the development of a lightweight jellyfish-inspired swimming robot, which achieves a maximum vertical swimming speed of 7.3 mm/s (0.05 body length/s) and is characterized by a simple design. The robot, named Jelly-Z, utilizes a contraction-expansion mechanism for swimming similar to the motion of a Moon jellyfish. The objective of this paper is to understand the behavior of soft silicone structure actuated by novel self-coiled polymer muscles in an underwater environment by varying stimuli and investigate the associated vortex for swimming like a jellyfish. To better understand the characteristics of this motion, simplified Fluid-structure simulation, and particle image velocimetry (PIV) tests were conducted to study the wake structure from the robot's bell margin. The thrust generated by the robot was also characterized with a force sensor to ascertain the force and cost of transport (COT) at different input currents. Jelly-Z is the first robot that utilized twisted and coiled polymer fishing line (TCPFL) actuators for articulation of the bell and showed successful swimming operations. Here, a thorough investigation on swimming characteristics in an underwater setting is presented theoretically and experimentally. We found swimming metrics of the robot are comparable with other jellyfish-inspired robots that have utilized different actuation mechanisms, but the actuators used here are scalable and can be made in-house relatively easily, hence paving way for further advancements into the use of these actuators.
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Affiliation(s)
- Pawandeep Singh Matharu
- Humanoid, Biorobotics and Smart Systems Laboratory (HBS Lab), Erik Jonsson School of Engineering and Computer Science, The University of Texas at Dallas, Richardson, TX, 75080, USA
| | - Pengyao Gong
- Fluids, Turbulence Control and Renewable Energy Laboratory, Department of Mechanical Engineering, The University of Texas at Dallas, Richardson, TX, 75080, USA
| | - Koti Pramod Reddy Guntaka
- SoRobotics Laboratory, Department of Mechanical Engineering, Wayne State University, Detroit, MI, 48202, USA
| | - Yara Almubarak
- SoRobotics Laboratory, Department of Mechanical Engineering, Wayne State University, Detroit, MI, 48202, USA
| | - Yaqing Jin
- Fluids, Turbulence Control and Renewable Energy Laboratory, Department of Mechanical Engineering, The University of Texas at Dallas, Richardson, TX, 75080, USA
| | - Yonas T Tadesse
- Humanoid, Biorobotics and Smart Systems Laboratory (HBS Lab), Erik Jonsson School of Engineering and Computer Science, The University of Texas at Dallas, Richardson, TX, 75080, USA.
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24
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von Montfort GM, Costello JH, Colin SP, Morandini AC, Migotto AE, Maronna MM, Reginato M, Miyake H, Nagata RM. Ontogenetic transitions, biomechanical trade-offs and macroevolution of scyphozoan medusae swimming patterns. Sci Rep 2023; 13:9760. [PMID: 37328506 PMCID: PMC10276012 DOI: 10.1038/s41598-023-34927-w] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/10/2022] [Accepted: 05/10/2023] [Indexed: 06/18/2023] Open
Abstract
Ephyrae, the early stages of scyphozoan jellyfish, possess a conserved morphology among species. However, ontogenetic transitions lead to morphologically different shapes among scyphozoan lineages, with important consequences for swimming biomechanics, bioenergetics and ecology. We used high-speed imaging to analyse biomechanical and kinematic variables of swimming in 17 species of Scyphozoa (1 Coronatae, 8 "Semaeostomeae" and 8 Rhizostomeae) at different developmental stages. Swimming kinematics of early ephyrae were similar, in general, but differences related to major lineages emerged through development. Rhizostomeae medusae have more prolate bells, shorter pulse cycles and higher swimming performances. Medusae of "Semaeostomeae", in turn, have more variable bell shapes and most species had lower swimming performances. Despite these differences, both groups travelled the same distance per pulse suggesting that each pulse is hydrodynamically similar. Therefore, higher swimming velocities are achieved in species with higher pulsation frequencies. Our results suggest that medusae of Rhizostomeae and "Semaeostomeae" have evolved bell kinematics with different optimized traits, rhizostomes optimize rapid fluid processing, through faster pulsations, while "semaeostomes" optimize swimming efficiency, through longer interpulse intervals that enhance mechanisms of passive energy recapture.
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Affiliation(s)
- Guilherme M von Montfort
- Instituto de Oceanografia, Universidade Federal do Rio Grande, Av. Itália, km 8, Rio Grande, RS, 96203-000, Brazil.
| | - John H Costello
- Whitman Center, Marine Biological Laboratory, Biology Department, Providence College, Woods Hole, MA, 02543, USA
- Biology Department, Providence College, Providence, RI 02918, USA
| | - Sean P Colin
- Whitman Center, Marine Biological Laboratory, Biology Department, Providence College, Woods Hole, MA, 02543, USA
- Marine Biology and Environmental Science, Roger Williams University, Bristol, RI, 02809, USA
| | - André C Morandini
- Departamento de Zoologia, Instituto de Biociências, Universidade de São Paulo, Rua do Matão, Trav. 14, São Paulo, SP, 101, 05508-090, Brazil
- Centro de Biologia Marinha, Universidade de São Paulo, Rodovia Manuel Hipólito do Rego, km 131.5, São Sebastião, SP, 11612-109, Brazil
| | - Alvaro E Migotto
- Centro de Biologia Marinha, Universidade de São Paulo, Rodovia Manuel Hipólito do Rego, km 131.5, São Sebastião, SP, 11612-109, Brazil
| | - Maximiliano M Maronna
- Departamento de Zoologia, Instituto de Biociências, Universidade de São Paulo, Rua do Matão, Trav. 14, São Paulo, SP, 101, 05508-090, Brazil
- Departamento de Ciências Biológicas, Universidade Estadual Paulista, Av. Eng. Luiz Edmundo Carrijo Coube, 14-01-Vargem Limpa-Bauru, São Paulo, Brazil
| | - Marcelo Reginato
- Departamento de Botânica, Instituto de Biociências, Universidade Federal do Rio Grande do Sul, Rio Grande, Brazil
| | - Hiroshi Miyake
- School of Marine Biosciences, Kitasato University, 1-15-1 Kitazato, Minami-ku, Sagamihara, 252-0373, Japan
| | - Renato M Nagata
- Instituto de Oceanografia, Universidade Federal do Rio Grande, Av. Itália, km 8, Rio Grande, RS, 96203-000, Brazil
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25
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Yang Y, Chu C, Jin H, Hu Q, Xu M, Dong E. Design, Modeling, and Control of an Aurelia-Inspired Robot Based on SMA Artificial Muscles. Biomimetics (Basel) 2023; 8:261. [PMID: 37366856 DOI: 10.3390/biomimetics8020261] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/29/2023] [Revised: 06/01/2023] [Accepted: 06/14/2023] [Indexed: 06/28/2023] Open
Abstract
This paper presented a flexible and easily fabricated untethered underwater robot inspired by Aurelia, which is named "Au-robot". The Au-robot is actuated by six radial fins made of shape memory alloy (SMA) artificial muscle modules, which can realize pulse jet propulsion motion. The thrust model of the Au-robot's underwater motion is developed and analyzed. To achieve a multimodal and smooth swimming transition for the Au-robot, a control method integrating a central pattern generator (CPG) and an adaptive regulation (AR) heating strategy is provided. The experimental results demonstrate that the Au-robot, with good bionic properties in structure and movement mode, can achieve a smooth transition from low-frequency swimming to high-frequency swimming with an average maximum instantaneous velocity of 12.61 cm/s. It shows that a robot designed and fabricated with artificial muscle can imitate biological structures and movement traits more realistically and has better motor performance.
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Affiliation(s)
- Yihan Yang
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Chenzhong Chu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Hu Jin
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Qiqiang Hu
- Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong
| | - Min Xu
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
| | - Erbao Dong
- CAS Key Laboratory of Mechanical Behavior and Design of Materials, Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230026, China
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26
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Vurro V, Shani K, Ardoña HAM, Zimmerman JF, Sesti V, Lee KY, Jin Q, Bertarelli C, Parker KK, Lanzani G. Light-triggered cardiac microphysiological model. APL Bioeng 2023; 7:026108. [PMID: 37234844 PMCID: PMC10208677 DOI: 10.1063/5.0143409] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/23/2023] [Accepted: 04/24/2023] [Indexed: 05/28/2023] Open
Abstract
Light is recognized as an accurate and noninvasive tool for stimulating excitable cells. Here, we report on a non-genetic approach based on organic molecular phototransducers that allows wiring- and electrode-free tissue modulation. As a proof of concept, we show photostimulation of an in vitro cardiac microphysiological model mediated by an amphiphilic azobenzene compound that preferentially dwells in the cell membrane. Exploiting this optical based stimulation technology could be a disruptive approach for highly resolved cardiac tissue stimulation.
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Affiliation(s)
- V. Vurro
- Center for Nanoscience and Technology, Istituto Italiano di Teconologia, Milano, 20133 Italy
| | - K. Shani
- Disease Biophysics Group, John A. Paulson School of Engineering and Applied Science, Harvard University, Boston, Massachusetts 02134, USA
| | | | - J. F. Zimmerman
- Disease Biophysics Group, John A. Paulson School of Engineering and Applied Science, Harvard University, Boston, Massachusetts 02134, USA
| | | | | | - Q. Jin
- Disease Biophysics Group, John A. Paulson School of Engineering and Applied Science, Harvard University, Boston, Massachusetts 02134, USA
| | | | - K. K. Parker
- Disease Biophysics Group, John A. Paulson School of Engineering and Applied Science, Harvard University, Boston, Massachusetts 02134, USA
| | - G. Lanzani
- Author to whom correspondence should be addressed:
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27
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Liu C, Li D, Huang J, Guo Z, Liu W. High-Performance Magnetic and Electric Control of Liquid Metal Droplets. LANGMUIR : THE ACS JOURNAL OF SURFACES AND COLLOIDS 2023; 39:7495-7502. [PMID: 37196334 DOI: 10.1021/acs.langmuir.3c00888] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/19/2023]
Abstract
In the present study, we propose a magnetically controlled and electrically controlled magnetic liquid metal (MLM) method to achieve high-performance multiple manipulation of droplets. The prepared MLM has good active and passive deformability. Under the action of the magnetic field, controllable transport, splitting, merging, and rotation are realized. In addition, controllable electric field manipulation in alkaline and acidic electrolytes is realized. This simple preparation method can be applied to the precise and rapid control of the magnetic field and electric field at the same time. Compared with other droplet manipulation methods, we realized droplet manipulation independent of special surfaces. It has the advantages of easy implementation, low cost, and high controllability. It shows great application potential in the fields of biochemical analysis, microfluidics, drug transportation in complex limited space, and intelligent soft robots.
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Affiliation(s)
- Cong Liu
- Ministry of Education Key Laboratory for the Green Preparation and Application of Functional Materials, Hubei University, Wuhan 430062, People's Republic of China
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000, People's Republic of China
| | - Deke Li
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000, People's Republic of China
- School of Materials Engineering, Lanzhou Institute of Technology, Lanzhou 730050, People's Republic of China
| | - Jinxia Huang
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000, People's Republic of China
| | - Zhiguang Guo
- Ministry of Education Key Laboratory for the Green Preparation and Application of Functional Materials, Hubei University, Wuhan 430062, People's Republic of China
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000, People's Republic of China
| | - Weimin Liu
- State Key Laboratory of Solid Lubrication, Lanzhou Institute of Chemical Physics, Chinese Academy of Sciences, Lanzhou 730000, People's Republic of China
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28
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Hazra RS, Khan MRH, Kale N, Tanha T, Khandare J, Ganai S, Quadir M. Bioinspired Materials for Wearable Devices and Point-of-Care Testing of Cancer. ACS Biomater Sci Eng 2023; 9:2103-2128. [PMID: 35679474 PMCID: PMC9732150 DOI: 10.1021/acsbiomaterials.1c01208] [Citation(s) in RCA: 11] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/13/2022]
Abstract
Wearable, point-of-care diagnostics, and biosensors are on the verge of bringing transformative changes in detection, management, and treatment of cancer. Bioinspired materials with new forms and functions have frequently been used, in both translational and commercial spaces, to fabricate such diagnostic platforms. Engineered from organic or inorganic molecules, bioinspired systems are naturally equipped with biorecognition and stimuli-sensitive properties. Mechanisms of action of bioinspired materials are deeply connected with thermodynamically or kinetically controlled self-assembly at the molecular and supramolecular levels. Thus, integration of bioinspired materials into wearable devices, either as triggers or sensors, brings about unique device properties usable for detection, capture, or rapid readout for an analyte of interest. In this review, we present the basic principles and mechanisms of action of diagnostic devices engineered from bioinspired materials, describe current advances, and discuss future trends of the field, particularly in the context of cancer.
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Affiliation(s)
- Raj Shankar Hazra
- Materials and Nanotechnology Program, North Dakota State University, Fargo, ND 58108, United States
| | - Md Rakib Hasan Khan
- Biomedical Engineering Program, North Dakota State University, Fargo, ND 58108, United States
| | - Narendra Kale
- Actorius Innovations and Research Pvt. Ltd., Pune, 411057 India
| | - Tabassum Tanha
- Genomics and Bioinformatics Program, North Dakota State University, Fargo, ND 58108, United States
| | - Jayant Khandare
- Actorius Innovations and Research Pvt. Ltd., Pune, 411057 India
- School of Pharmacy, Dr. Vishwananth Karad MIT World Peace University, Kothrud, Pune 411038, India
- School of Consciousness, MIT WPU, Kothrud, Pune 411038, India
| | - Sabha Ganai
- Division of Surgical Oncology, Sanford Research, Fargo, North Dakota 58122, United States
- Complex General Surgical Oncology, University of North Dakota, Grand Forks, ND 58202, United States
| | - Mohiuddin Quadir
- Materials and Nanotechnology Program, North Dakota State University, Fargo, ND 58108, United States
- Biomedical Engineering Program, North Dakota State University, Fargo, ND 58108, United States
- Department of Coatings and Polymeric Materials, North Dakota State University, Fargo, ND 58108, United States
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29
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López-González A, Tejada JC, López-Romero J. Review and Proposal for a Classification System of Soft Robots Inspired by Animal Morphology. Biomimetics (Basel) 2023; 8:biomimetics8020192. [PMID: 37218778 DOI: 10.3390/biomimetics8020192] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/01/2023] [Revised: 03/31/2023] [Accepted: 04/20/2023] [Indexed: 05/24/2023] Open
Abstract
The aim of this article is to propose a bio-inspired morphological classification for soft robots based on an extended review process. The morphology of living beings that inspire soft robotics was analyzed; we found coincidences between animal kingdom morphological structures and soft robot structures. A classification is proposed and depicted through experiments. Additionally, many soft robot platforms present in the literature are classified using it. This classification allows for order and coherence in the area of soft robotics and provides enough freedom to expand soft robotics research.
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Affiliation(s)
- Alexandro López-González
- Department of Engineering Studies for Innovation, Universidad Iberoamericana, Ciudad de México 01219, Mexico
| | - Juan C Tejada
- Department of Engineering Studies for Innovation, Universidad Iberoamericana, Ciudad de México 01219, Mexico
- Computational Intelligence and Automation Research Group (GIICA), Universidad EIA, Envigado 055428, Colombia
| | - Janet López-Romero
- Department of Engineering Studies for Innovation, Universidad Iberoamericana, Ciudad de México 01219, Mexico
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30
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Peng M, Zhao Q, Wang M, Du X. Reconfigurable scaffolds for adaptive tissue regeneration. NANOSCALE 2023; 15:6105-6120. [PMID: 36919563 DOI: 10.1039/d3nr00281k] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
Tissue engineering and regenerative medicine have offered promising alternatives for clinical treatment of body tissue traumas, losses, dysfunctions, or diseases, where scaffold-based strategies are particularly popular and effective. Over the decades, scaffolds for tissue regeneration have been remarkably evolving. Nevertheless, conventional scaffolds still confront grand challenges in bio-adaptions in terms of both tissue-scaffold and cell-scaffold interplays, for example complying with complicated three-dimensional (3D) shapes of biological tissues and recapitulating the ordered cell regulation effects of native cell microenvironments. Benefiting from the recent advances in "intelligent" biomaterials, reconfigurable scaffolds have been emerging, demonstrating great promise in addressing the bio-adaption challenges through altering their macro-shapes and/or micro-structures. This mini-review article presents a brief overview of the cutting-edge research on reconfigurable scaffolds, summarizing the materials for forming reconfigurable scaffolds and highlighting their applications for adaptive tissue regeneration. Finally, the challenges and prospects of reconfigurable scaffolds are also discussed, shedding light on the bright future of next-generation reconfigurable scaffolds with upgrading adaptability.
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Affiliation(s)
- Mingxing Peng
- Institute of Biomedical & Health Engineering, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences (CAS), Shenzhen, 518055, China.
- University of Chinese Academy of Sciences, China
| | - Qilong Zhao
- Institute of Biomedical & Health Engineering, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences (CAS), Shenzhen, 518055, China.
| | - Min Wang
- Department of Mechanical Engineering, The University of Hong Kong, Pokfulam Road, Hong Kong
| | - Xuemin Du
- Institute of Biomedical & Health Engineering, Shenzhen Institute of Advanced Technology (SIAT), Chinese Academy of Sciences (CAS), Shenzhen, 518055, China.
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31
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Wu S, Hong Y, Zhao Y, Yin J, Zhu Y. Caterpillar-inspired soft crawling robot with distributed programmable thermal actuation. SCIENCE ADVANCES 2023; 9:eadf8014. [PMID: 36947625 PMCID: PMC10032605 DOI: 10.1126/sciadv.adf8014] [Citation(s) in RCA: 28] [Impact Index Per Article: 28.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/14/2022] [Accepted: 02/21/2023] [Indexed: 06/14/2023]
Abstract
Many inspirations for soft robotics are from the natural world, such as octopuses, snakes, and caterpillars. Here, we report a caterpillar-inspired, energy-efficient crawling robot with multiple crawling modes, enabled by joule heating of a patterned soft heater consisting of silver nanowire networks in a liquid crystal elastomer (LCE)-based thermal bimorph actuator. With patterned and distributed heaters and programmable heating, different temperature and hence curvature distribution along the body of the robot are achieved, enabling bidirectional locomotion as a result of the friction competition between the front and rear end with the ground. The thermal bimorph behavior is studied to predict and optimize the local curvature of the robot under thermal stimuli. The bidirectional actuation modes with the crawling speeds are investigated. The capability of passing through obstacles with limited spacing are demonstrated. The strategy of distributed and programmable heating and actuation with thermal responsive materials offers unprecedented capabilities for smart and multifunctional soft robots.
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Affiliation(s)
- Shuang Wu
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yaoye Hong
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yao Zhao
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
| | - Yong Zhu
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC 27695, USA
- Department of Materials Science and Engineering, North Carolina State University, Raleigh, NC 27695, USA
- Joint Department of Biomedical Engineering, University of North Carolina-Chapel Hill and NC State University, Chapel Hill, NC 27599, USA
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32
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Li W, Guan Q, Li M, Saiz E, Hou X. Nature's strategy to construct tough responsive hydrogel actuators and their applications. Prog Polym Sci 2023. [DOI: 10.1016/j.progpolymsci.2023.101665] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/27/2023]
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33
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Peng L, Matellan C, Bosch-Fortea M, Gonzalez-Molina J, Frigerio M, Salentinig S, Del Rio Hernandez A, Gautrot JE. Mesenchymal Stem Cells Sense the Toughness of Nanomaterials and Interfaces. Adv Healthc Mater 2023; 12:e2203297. [PMID: 36717365 DOI: 10.1002/adhm.202203297] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/18/2022] [Revised: 01/20/2023] [Indexed: 02/01/2023]
Abstract
Stem cells are known to sense and respond to the mechanical properties of biomaterials. In turn, cells exert forces on their environment that can lead to striking changes in shape, size and contraction of associated tissues, and may result in mechanical disruption and functional failure. However, no study has so far correlated stem cell phenotype and biomaterials toughness. Indeed, disentangling toughness-mediated cell response from other mechanosensing processes has remained elusive as it is particularly challenging to uncouple Youngs' or shear moduli from toughness, within a range relevant to cell-generated forces. In this report, it is shown how the design of the macromolecular architecture of polymer nanosheets regulates interfacial toughness, independently of interfacial shear storage modulus, and how this controls the expansion of mesenchymal stem cells at liquid interfaces. The viscoelasticity and toughness of poly(l-lysine) nanosheets assembled at liquid-liquid interfaces is characterised via interfacial shear rheology. The local (microscale) mechanics of nanosheets are characterised via magnetic tweezer-assisted interfacial microrheology and the thickness of these assemblies is determined from in situ ellipsometry. Finally, the response of mesenchymal stem cells to adhesion and culture at corresponding interfaces is investigated via immunostaining and confocal microscopy.
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Affiliation(s)
- Lihui Peng
- Institute of Bioengineering, Queen Mary University of London, Mile End Road, E1 4NS, London, UK.,Cellular and Molecular Biomechanical Laboratory, Department of Bioengineering, Imperial College London, London, SW7 2AZ, UK
| | - Carlos Matellan
- School of Engineering and Materials Science, Queen Mary, University of London, Mile End Road, London, E1 4NS, UK
| | - Minerva Bosch-Fortea
- Institute of Bioengineering, Queen Mary University of London, Mile End Road, E1 4NS, London, UK.,Cellular and Molecular Biomechanical Laboratory, Department of Bioengineering, Imperial College London, London, SW7 2AZ, UK
| | - Jordi Gonzalez-Molina
- Institute of Bioengineering, Queen Mary University of London, Mile End Road, E1 4NS, London, UK.,Cellular and Molecular Biomechanical Laboratory, Department of Bioengineering, Imperial College London, London, SW7 2AZ, UK
| | - Matteo Frigerio
- Department of Chemistry, University of Fribourg, Chemin du Musée 9, Fribourg, 1700, Switzerland
| | - Stefan Salentinig
- Department of Chemistry, University of Fribourg, Chemin du Musée 9, Fribourg, 1700, Switzerland
| | - Armando Del Rio Hernandez
- School of Engineering and Materials Science, Queen Mary, University of London, Mile End Road, London, E1 4NS, UK
| | - Julien E Gautrot
- Institute of Bioengineering, Queen Mary University of London, Mile End Road, E1 4NS, London, UK.,Cellular and Molecular Biomechanical Laboratory, Department of Bioengineering, Imperial College London, London, SW7 2AZ, UK
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34
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Kim Y, Yang Y, Zhang X, Li Z, Vázquez-Guardado A, Park I, Wang J, Efimov AI, Dou Z, Wang Y, Park J, Luan H, Ni X, Kim YS, Baek J, Park JJ, Xie Z, Zhao H, Gazzola M, Rogers JA, Bashir R. Remote control of muscle-driven miniature robots with battery-free wireless optoelectronics. Sci Robot 2023; 8:eadd1053. [PMID: 36652505 DOI: 10.1126/scirobotics.add1053] [Citation(s) in RCA: 14] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023]
Abstract
Bioengineering approaches that combine living cellular components with three-dimensional scaffolds to generate motion can be used to develop a new generation of miniature robots. Integrating on-board electronics and remote control in these biological machines will enable various applications across engineering, biology, and medicine. Here, we present hybrid bioelectronic robots equipped with battery-free and microinorganic light-emitting diodes for wireless control and real-time communication. Centimeter-scale walking robots were computationally designed and optimized to host on-board optoelectronics with independent stimulation of multiple optogenetic skeletal muscles, achieving remote command of walking, turning, plowing, and transport functions both at individual and collective levels. This work paves the way toward a class of biohybrid machines able to combine biological actuation and sensing with on-board computing.
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Affiliation(s)
- Yongdeok Kim
- Department of Materials Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA.,Nick J. Holonyak Micro and Nanotechnology Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Yiyuan Yang
- Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA.,Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Xiaotian Zhang
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Zhengwei Li
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL 60208, USA.,Department of Biomedical Engineering, University of Houston, Houston, TX 77204, USA.,Department of Biomedical Sciences, University of Houston, Houston, TX 77204, USA
| | | | - Insu Park
- Nick J. Holonyak Micro and Nanotechnology Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Jiaojiao Wang
- Nick J. Holonyak Micro and Nanotechnology Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA.,Department of Bioengineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Andrew I Efimov
- Department of Biomedical Engineering, Northwestern University, Evanston, IL 60208, USA
| | - Zhi Dou
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Yue Wang
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL 60208, USA.,Department of Biomedical Engineering, Northwestern University, Evanston, IL 60208, USA
| | - Junehu Park
- Department of Materials Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Haiwen Luan
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL 60208, USA
| | - Xinchen Ni
- Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL 60208, USA
| | - Yun Seong Kim
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Janice Baek
- Department of Materials Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA.,Nick J. Holonyak Micro and Nanotechnology Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Joshua Jaehyung Park
- Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA
| | - Zhaoqian Xie
- State Key Laboratory of Structural Analysis for Industrial Equipment, Department of Engineering Mechanics, DUT-BSU Joint Institute, Dalian University of Technology, Dalian 116024, China
| | - Hangbo Zhao
- Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA 90089, USA
| | - Mattia Gazzola
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA.,National Center for Supercomputing Applications, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA.,Carl R. Woese Institute for Genomic Biology, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - John A Rogers
- Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA.,Querrey Simpson Institute for Bioelectronics, Northwestern University, Evanston, IL 60208, USA.,Department of Biomedical Engineering, Northwestern University, Evanston, IL 60208, USA.,Department of Electrical and Computer Engineering, Northwestern University, Evanston, IL 60208, USA.,Department of Materials Science and Engineering, Northwestern University, Evanston, IL 60208, USA.,Department of Neurological Surgery, Feinberg School of Medicine, Northwestern University, Chicago, IL 60611, USA
| | - Rashid Bashir
- Department of Materials Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA.,Nick J. Holonyak Micro and Nanotechnology Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA.,Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA.,Department of Bioengineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA.,Carl R. Woese Institute for Genomic Biology, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA.,Department of Electrical and Computer Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
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35
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Pramanik R, Verstappen RWCP, Onck PR. Magnetic-field-induced propulsion of jellyfish-inspired soft robotic swimmers. Phys Rev E 2023; 107:014607. [PMID: 36797941 DOI: 10.1103/physreve.107.014607] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/28/2022] [Accepted: 12/19/2022] [Indexed: 06/18/2023]
Abstract
The multifaceted appearance of soft robots in the form of swimmers, catheters, surgical devices, and drug-carrier vehicles in biomedical and microfluidic applications is ubiquitous today. Jellyfish-inspired soft robotic swimmers (jellyfishbots) have been fabricated and experimentally characterized by several researchers that reported their swimming kinematics and multimodal locomotion. However, the underlying physical mechanisms that govern magnetic-field-induced propulsion are not yet fully understood. Here, we use a robust and efficient computational framework to study the jellyfishbot swimming kinematics and the induced flow field dynamics through numerical simulation. We consider a two-dimensional model jellyfishbot that has flexible lappets, which are symmetric about the jellyfishbot center. These lappets exhibit flexural deformation when subjected to external magnetic fields to displace the surrounding fluid, thereby generating the thrust required for propulsion. We perform a parametric sweep to explore the jellyfishbot kinematic performance for different system parameters-structural, fluidic, and magnetic. In jellyfishbots, the soft magnetic composite elastomeric lappets exhibit temporal and spatial asymmetries when subjected to unsteady external magnetic fields. The average speed is observed to be dependent on both these asymmetries, quantified by the glide magnitude and the net area swept by the lappet tips per swimming cycle, respectively. We observe that a judicious choice of the applied magnetic field and remnant magnetization profile in the jellyfishbot lappets enhances both these asymmetries. Furthermore, the dependence of the jellyfishbot swimming speed upon the net area swept (spatial asymmetry) is twice as high as the dependence of speed on the glide ratio (temporal asymmetry). Finally, functional relationships between the swimming speed and different kinematic parameters and nondimensional numbers are developed. Our results provide guidelines for the design of improved jellyfish-inspired magnetic soft robotic swimmers.
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Affiliation(s)
- R Pramanik
- Computational and Numerical Mathematics Group, Bernoulli Institute for Mathematics, Computer Science and Artificial Intelligence, University of Groningen, Netherlands
- Micromechanics Group, Zernike Institute for Advanced Materials, University of Groningen, Netherlands
| | - R W C P Verstappen
- Computational and Numerical Mathematics Group, Bernoulli Institute for Mathematics, Computer Science and Artificial Intelligence, University of Groningen, Netherlands
| | - P R Onck
- Micromechanics Group, Zernike Institute for Advanced Materials, University of Groningen, Netherlands
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36
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Abstract
Jellyfish are among the widely distributed nature creatures that can effectively control the fluidic flow around their transparent soft body, thus achieving movements in the water and camouflage in the surrounding environments. Till now, it remains a challenge to replicate both transparent appearance and functionalities of nature jellyfish in synthetic systems due to the lack of transparent actuators. In this work, a fully transparent soft jellyfish robot is developed to possess both transparency and bio-inspired omni motions in water. This robot is driven by transparent dielectric elastomer actuators (DEAs) using hybrid silver nanowire networks and conductive polymer poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate)/waterborne polyurethane as compliant electrodes. The electrode exhibits large stretchability, low stiffness, high transmittance, and excellent conductivity at large strains. Consequently, the highly transparent DEA based on this hybrid electrode, with Very-High-Bond membranes as dielectric layers and polydimethylsiloxane as top coating, can achieve a maximum area strain of 146% with only 3% hysteresis loss. Driven by this transparent DEA, the soft jellyfish robot can achieve vertical and horizontal movements in water, by mimicking the actual pulsating rhythm of an Aurelia aurita. The bio-inspired robot can serve multiple functions as an underwater soft robot. The hybrid electrodes and bio-inspired design approach are potentially useful in a variety of soft robots and flexible devices.
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Affiliation(s)
- Yuzhe Wang
- Singapore Institute of Manufacturing Technology, Agency for Science, Technology and Research (A*STAR), Singapore.,Department of Mechanical Engineering, National University of Singapore, Singapore
| | - Pengpeng Zhang
- Department of Mechanical Engineering, National University of Singapore, Singapore
| | - Hui Huang
- Singapore Institute of Manufacturing Technology, Agency for Science, Technology and Research (A*STAR), Singapore
| | - Jian Zhu
- School of Science and Engineering, Chinese University of Hong Kong at Shenzhen, Shenzhen, China.,Shenzhen Institute of Artificial Intelligence and Robotics for Society, Shenzhen, China
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37
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Abstract
Thermal actuation is a common actuation method for soft robots. However, a major limitation is the relatively slow actuation speed. Here we report significant increase in the actuation speed of a bimorph thermal actuator by harnessing the snap-through instability. The actuator is made of silver nanowire/polydimethylsiloxane composite. The snap-through instability is enabled by simply applying an offset displacement to part of the actuator structure. The effects of thermal conductivity of the composite, offset displacement, and actuation frequency on the actuator speed are investigated using both experiments and finite element analysis. The actuator yields a bending speed as high as 28.7 cm-1/s, 10 times that without the snap-through instability. A fast crawling robot with locomotion speed of 1.04 body length per second and a biomimetic Venus flytrap were demonstrated to illustrate the promising potential of the fast bimorph thermal actuators for soft robotic applications.
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Affiliation(s)
- Shuang Wu
- Department of Mechanical and Aerospace Engineering and North Carolina State University, Raleigh, North Carolina, USA
| | - Gregory Langston Baker
- Department of Mechanical and Aerospace Engineering and North Carolina State University, Raleigh, North Carolina, USA
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering and North Carolina State University, Raleigh, North Carolina, USA
| | - Yong Zhu
- Department of Mechanical and Aerospace Engineering and North Carolina State University, Raleigh, North Carolina, USA.,Department of Materials Science and Engineering, North Carolina State University, Raleigh, North Carolina, USA.,Joint Department of Biomedical Engineering, University of North Carolina-Chapel Hill and NC State University, Chapel Hill, North Carolina, USA
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38
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Ye J, Yao YC, Gao JY, Chen S, Zhang P, Sheng L, Liu J. LM-Jelly: Liquid Metal Enabled Biomimetic Robotic Jellyfish. Soft Robot 2022; 9:1098-1107. [PMID: 35486839 DOI: 10.1089/soro.2021.0055] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/11/2023] Open
Abstract
Jellyfish have attracted worldwide attention owing to their fantastic moving styles, which also inspired development in soft robotics to meet the demands of underwater surveillance. In this study, a soft robotic jellyfish integrated liquid metal coil, and magnetic field is proposed for the first time to mimic the soft rowing propulsion of oblate jellyfish. The soft robotic jellyfish is actuated by the entirely soft electromagnetic actuators that enabled the gentle motion. Through conceptual experiments and computational fluid dynamics simulations, we systematically interpreted the mechanism of this robotic jellyfish and various factors to dominate its movement behaviors, which involve vortex formation and ascending modalities. Besides, underwater monitoring and bio-friendliness of robotic jellyfish were also demonstrated to illustrate its potential application scenarios and gentle motion characteristics. This study will help to broaden the vistas for liquid metal enabled bionic robotics in a wide range of underwater applications.
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Affiliation(s)
- Jiao Ye
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China.,School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Yu-Chen Yao
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China.,School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Jian-Ye Gao
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China.,School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China
| | - Sen Chen
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China.,School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Pan Zhang
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China.,School of Future Technology, University of Chinese Academy of Sciences, Beijing, China
| | - Lei Sheng
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China
| | - Jing Liu
- Beijing Key Lab of CryoBiomedical Engineering and Key Lab of Cryogenics, Technical Institute of Physics and Chemistry, Chinese Academy of Sciences, Beijing, China.,School of Future Technology, University of Chinese Academy of Sciences, Beijing, China.,School of Engineering Science, University of Chinese Academy of Sciences, Beijing, China.,Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, China
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39
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Recent trends in bioartificial muscle engineering and their applications in cultured meat, biorobotic systems and biohybrid implants. Commun Biol 2022; 5:737. [PMID: 35869250 PMCID: PMC9307618 DOI: 10.1038/s42003-022-03593-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/20/2021] [Accepted: 06/16/2022] [Indexed: 11/09/2022] Open
Abstract
AbstractRecent advances in tissue engineering and biofabrication technology have yielded a plethora of biological tissues. Among these, engineering of bioartificial muscle stands out for its exceptional versatility and its wide range of applications. From the food industry to the technology sector and medicine, the development of this tissue has the potential to affect many different industries at once. However, to date, the biofabrication of cultured meat, biorobotic systems, and bioartificial muscle implants are still considered in isolation by individual peer groups. To establish common ground and share advances, this review outlines application-specific requirements for muscle tissue generation and provides a comprehensive overview of commonly used biofabrication strategies and current application trends. By solving the individual challenges and merging various expertise, synergetic leaps of innovation that inspire each other can be expected in all three industries in the future.
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40
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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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41
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Biohybrid materials: Structure design and biomedical applications. Mater Today Bio 2022; 16:100352. [PMID: 35856044 PMCID: PMC9287810 DOI: 10.1016/j.mtbio.2022.100352] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/29/2022] [Revised: 07/01/2022] [Accepted: 07/02/2022] [Indexed: 11/21/2022]
Abstract
Biohybrid materials are proceeded by integrating living cells and non-living materials to endow materials with biomimetic properties and functionalities by supporting cell proliferation and even enhancing cell functions. Due to the outstanding biocompatibility and programmability, biohybrid materials provide some promising strategies to overcome current problems in the biomedical field. Here, we review the concept and unique features of biohybrid materials by comparing them with conventional materials. We emphasize the structure design of biohybrid materials and discuss the structure-function relationships. We also enumerate the application aspects of biohybrid materials in biomedical frontiers. We believe this review will bring various opportunities to promote the communication between cell biology, material sciences, and medical engineering.
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42
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Cable J, Arlotta P, Parker KK, Hughes AJ, Goodwin K, Mummery CL, Kamm RD, Engle SJ, Tagle DA, Boj SF, Stanton AE, Morishita Y, Kemp ML, Norfleet DA, May EE, Lu A, Bashir R, Feinberg AW, Hull SM, Gonzalez AL, Blatchley MR, Montserrat Pulido N, Morizane R, McDevitt TC, Mishra D, Mulero-Russe A. Engineering multicellular living systems-a Keystone Symposia report. Ann N Y Acad Sci 2022; 1518:183-195. [PMID: 36177947 PMCID: PMC9771928 DOI: 10.1111/nyas.14896] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/05/2023]
Abstract
The ability to engineer complex multicellular systems has enormous potential to inform our understanding of biological processes and disease and alter the drug development process. Engineering living systems to emulate natural processes or to incorporate new functions relies on a detailed understanding of the biochemical, mechanical, and other cues between cells and between cells and their environment that result in the coordinated action of multicellular systems. On April 3-6, 2022, experts in the field met at the Keystone symposium "Engineering Multicellular Living Systems" to discuss recent advances in understanding how cells cooperate within a multicellular system, as well as recent efforts to engineer systems like organ-on-a-chip models, biological robots, and organoids. Given the similarities and common themes, this meeting was held in conjunction with the symposium "Organoids as Tools for Fundamental Discovery and Translation".
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Affiliation(s)
| | - Paola Arlotta
- Department of Stem Cell and Regenerative Biology, Harvard University, Cambridge, Massachusetts, USA
- Stanley Center for Psychiatric Research, Broad Institute of MIT and Harvard, Cambridge, Massachusetts, USA
| | - Kevin Kit Parker
- Wyss Institute for Biologically Inspired Engineering and John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA
- Harvard Stem Cell Institute, Harvard University, Cambridge, Massachusetts, USA
| | - Alex J Hughes
- Department of Bioengineering, School of Engineering and Applied Science and Department of Cell and Developmental Biology, Perelman School of Medicine, University of Pennsylvania, Philadelphia, Pennsylvania, USA
| | - Katharine Goodwin
- Lewis-Sigler Institute for Integrative Genomics, Princeton University, Princeton, New Jersey, USA
| | - Christine L Mummery
- Department of Anatomy and Embryology and LUMC hiPSC Hotel, Leiden University Medical Center, Leiden, the Netherlands
| | - Roger D Kamm
- Department of Mechanical Engineering and Department of Biological Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA
| | - Sandra J Engle
- Translational Biology, Biogen, Cambridge, Massachusetts, USA
| | - Danilo A Tagle
- National Center for Advancing Translational Sciences, National Institutes of Health, Bethesda, Maryland, USA
| | - Sylvia F Boj
- Hubrecht Organoid Technology (HUB), Utrecht, the Netherlands
| | - Alice E Stanton
- Department of Chemical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA
| | - Yoshihiro Morishita
- Laboratory for Developmental Morphogeometry, RIKEN Center for Biosystems Dynamics Research, Kobe, Japan
- Precursory Research for Embryonic Science and Technology (PRESTO) Program, Japan Science and Technology Agency, Kawaguchi, Japan
| | - Melissa L Kemp
- The Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology and Emory University, Atlanta, Georgia, USA
| | - Dennis A Norfleet
- The Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology and Emory University, Atlanta, Georgia, USA
| | - Elebeoba E May
- Department of Biomedical Engineering and HEALTH Research Institute, University of Houston, Houston, Texas, USA
- Wisconsin Institute of Discovery and Department of Medical Microbiology & Immunology, University of Wisconsin-Madison, Madison, Wisconsin, USA
| | - Aric Lu
- Wyss Institute for Biologically Inspired Engineering and John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts, USA
- Draper Laboratory, Biological Engineering Division, Cambridge, Massachusetts, USA
| | - Rashid Bashir
- Beckman Institute for Advanced Science and Technology, Urbana, Illinois, USA
- Holonyak Micro & Nanotechnology Laboratory, Department of Electrical and Computer Engineering and Department of Bioengineering, University of Illinois Urbana-Champaign, Urbana, Illinois, USA
| | - Adam W Feinberg
- Department of Biomedical Engineering and Department of Materials Science & Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA
| | - Sarah M Hull
- Department of Chemical Engineering, Stanford University, Stanford, California, USA
| | - Anjelica L Gonzalez
- Department of Biomedical Engineering, Yale University, New Haven, Connecticut, USA
| | - Michael R Blatchley
- BioFrontiers Institute and Department of Chemical and Biological Engineering, University of Colorado Boulder, Boulder, Colorado, USA
| | | | - Ryuji Morizane
- Nephrology Division, Massachusetts General Hospital, Boston, Massachusetts, USA
| | - Todd C McDevitt
- The Gladstone Institutes and Department of Bioengineering and Therapeutic Sciences, University of California San Francisco, San Francisco, California, USA
| | - Deepak Mishra
- Department of Biological Engineering, Synthetic Biology Center, Cambridge, Massachusetts, USA
- Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA
| | - Adriana Mulero-Russe
- Parker H. Petit Institute for Bioengineering and Bioscience and School of Chemical and Biomolecular Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA
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43
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Webster-Wood VA, Guix M, Xu NW, Behkam B, Sato H, Sarkar D, Sanchez S, Shimizu M, Parker KK. Biohybrid robots: recent progress, challenges, and perspectives. BIOINSPIRATION & BIOMIMETICS 2022; 18:015001. [PMID: 36265472 DOI: 10.1088/1748-3190/ac9c3b] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/18/2022] [Accepted: 10/20/2022] [Indexed: 06/16/2023]
Abstract
The past ten years have seen the rapid expansion of the field of biohybrid robotics. By combining engineered, synthetic components with living biological materials, new robotics solutions have been developed that harness the adaptability of living muscles, the sensitivity of living sensory cells, and even the computational abilities of living neurons. Biohybrid robotics has taken the popular and scientific media by storm with advances in the field, moving biohybrid robotics out of science fiction and into real science and engineering. So how did we get here, and where should the field of biohybrid robotics go next? In this perspective, we first provide the historical context of crucial subareas of biohybrid robotics by reviewing the past 10+ years of advances in microorganism-bots and sperm-bots, cyborgs, and tissue-based robots. We then present critical challenges facing the field and provide our perspectives on the vital future steps toward creating autonomous living machines.
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Affiliation(s)
- Victoria A Webster-Wood
- Mechanical Engineering, Biomedical Engineering (by courtesy), McGowan Institute of Regenerative Medicine, Carnegie Mellon University, Pittsburgh, PA 15116, United States of America
| | - Maria Guix
- Institute for Bioengineering of Catalonia (IBEC), Barcelona Institute of Science and Technology (BIST), Baldiri-Reixac 10-12, 08028 Barcelona, Spain
- Departament de Ciència dels Materials i Química Física, Institut de Química Teòrica i Computacional Barcelona, Universitat de Barcelona, 08028 Barcelona, Spain
| | - Nicole W Xu
- Laboratories for Computational Physics and Fluid Dynamics, U.S. Naval Research Laboratory, Code 6041, Washington, DC, United States of America
| | - Bahareh Behkam
- Department of Mechanical Engineering, Institute for Critical Technology and Applied Science, Blacksburg, VA 24061, United States of America
| | - Hirotaka Sato
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 65 Nanyang Drive, Singapore, 637460, Singapore
| | - Deblina Sarkar
- MIT Media Lab, Massachusetts Institute of Technology, Cambridge, MA 02139, United States of America
| | - Samuel Sanchez
- Institute for Bioengineering of Catalonia (IBEC), Barcelona Institute of Science and Technology (BIST), Baldiri-Reixac 10-12, 08028 Barcelona, Spain
- Catalan Institute for Research and Advanced Studies (ICREA), Avda. Lluis Companys 23, 08010 Barcelona, Spain
| | - Masahiro Shimizu
- Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama-machi, Toyonaka, Osaka, Japan
| | - Kevin Kit Parker
- Disease Biophysics Group, Wyss Institute for Biologically Inspired Engineering and School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, United States of America
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Glykofrydis F, Elfick A. Exploring standards for multicellular mammalian synthetic biology. Trends Biotechnol 2022; 40:1299-1312. [PMID: 35803769 DOI: 10.1016/j.tibtech.2022.06.001] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/01/2022] [Revised: 05/16/2022] [Accepted: 06/02/2022] [Indexed: 01/21/2023]
Abstract
Synthetic biology is moving towards bioengineering multicellular mammalian systems that are poised to advance tissue engineering, biomedicine, and the food industry. Despite progress, the field lacks a framework of standards that could greatly accelerate further development. Here, we explore the landscape of standards for multicellular mammalian synthetic biology. We discuss the limits of current technical standards and categorise unaddressed parameters into an abstraction hierarchy. We then define the concept of a 'synthetic multicellular mammalian system' and apply our standard hierarchy framework to illustrate how it could aid bioengineering endeavours. We conclude with promising areas that could shape the future of the field, flagging the need for a critical and holistic consideration of standards that requires cross-disciplinary dialogue.
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Affiliation(s)
- Fokion Glykofrydis
- Institute for Bioengineering, School of Engineering, University of Edinburgh, King's Buildings, Edinburgh, EH9 3BF, UK; UK Centre for Mammalian Synthetic Biology, University of Edinburgh, King's Buildings, Edinburgh, EH9 3BD, UK
| | - Alistair Elfick
- Institute for Bioengineering, School of Engineering, University of Edinburgh, King's Buildings, Edinburgh, EH9 3BF, UK; UK Centre for Mammalian Synthetic Biology, University of Edinburgh, King's Buildings, Edinburgh, EH9 3BD, UK.
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45
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Nomura T, Takeuchi M, Kim E, Huang Q, Hasegawa Y, Fukuda T. Development of High-Cell-Density Tissue Method for Compressed Modular Bioactuator. MICROMACHINES 2022; 13:1725. [PMID: 36296079 PMCID: PMC9607352 DOI: 10.3390/mi13101725] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/15/2022] [Revised: 10/05/2022] [Accepted: 10/10/2022] [Indexed: 06/16/2023]
Abstract
Bioactuators have been developed in many studies in the recent decade for actuators of micro-biorobots. However, bioactuators have not shown the same power as animal muscles. Centrifugal force was used in this study to increase the cell density of cultured muscle cells that make up the bioactuator. The effect of the centrifugal force on cells in the matrix gel before curing was investigated, and the optimal centrifugal force was identified to be around 450× g. The compressed modular bioactuator (C-MBA) fabricated in this study exhibited 1.71 times higher cell density than the conventional method. In addition, the contractile force per unit cross-sectional area was 1.88 times higher. The proposed method will contribute to new bioactuators with the same power as living muscles in animals.
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Affiliation(s)
- Takuto Nomura
- Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya 4648603, Japan
| | - Masaru Takeuchi
- Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya 4648603, Japan
| | - Eunhye Kim
- Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya 4648603, Japan
| | - Qiang Huang
- Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China
| | - Yasuhisa Hasegawa
- Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya 4648603, Japan
| | - Toshio Fukuda
- Department of Micro-Nano Mechanical Science and Engineering, Nagoya University, Nagoya 4648603, Japan
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46
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Tang Y, Li M, Wang T, Dong X, Hu W, Sitti M. Wireless Miniature Magnetic Phase-Change Soft Actuators. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2204185. [PMID: 35975467 PMCID: PMC7613683 DOI: 10.1002/adma.202204185] [Citation(s) in RCA: 28] [Impact Index Per Article: 14.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/09/2022] [Revised: 08/09/2022] [Indexed: 05/28/2023]
Abstract
Wireless miniature soft actuators are promising for various potential high-impact applications in medical, robotic grippers, and artificial muscles. However, these miniature soft actuators are currently constrained by a small output force and low work capacity. To address such challenges, a miniature magnetic phase-change soft composite actuator is reported. This soft actuator exhibits an expanding deformation and enables up to a 70 N output force and 175.2 J g-1 work capacity under remote magnetic radio frequency heating, which are 106 -107 times that of traditional magnetic soft actuators. To demonstrate its capabilities, a wireless soft robotic device is first designed that can withstand 0.24 m s-1 fluid flows in an artery phantom. By integrating it with a thermally-responsive shape-memory polymer and bistable metamaterial sleeve, a wireless reversible bistable stent is designed toward future potential angioplasty applications. Moreover, it can additionally locomote inside and jump out of granular media. At last, the phase-change actuator can realize programmable bending deformations when a specifically designed magnetization profile is encoded, enhancing its shape-programming capability. Such a miniature soft actuator provides an approach to enhance the mechanical output and versatility of magnetic soft robots and devices, extending their medical and other potential applications.
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Affiliation(s)
- Yichao Tang
- School of Mechanical Engineering Tongji University Shanghai 201804, China; Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany
| | - Mingtong Li
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; Institute of Functional Nano & Soft Materials (FUNSOM) Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices Soochow University Suzhou, Jiangsu 215123, China
| | - Tianlu Wang
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; Institute for Biomedical Engineering ETH Zurich Zurich 8092, Switzerland
| | - Xiaoguang Dong
- Physical Intelligence Department Max Planck Institute for Intelligent Systems 70569, Stuttgart, Germany; of Mechanical Engineering Vanderbilt University Nashville, TN 37215, USA; Vanderbilt Institute for Surgery and Engineering Vanderbilt University Nashville, TN 37215, USA
| | - Wenqi Hu
- 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; Institute for Biomedical Engineering ETH Zurich Zurich 8092, Switzerland; School of Medicine and College of Engineering Koç University Istanbul 34450, Turkey
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Blasiak R, Jouffray JB, Amon DJ, Moberg F, Claudet J, Søgaard Jørgensen P, Pranindita A, Wabnitz CCC, Österblom H. A forgotten element of the blue economy: marine biomimetics and inspiration from the deep sea. PNAS NEXUS 2022; 1:pgac196. [PMID: 36714844 PMCID: PMC9802412 DOI: 10.1093/pnasnexus/pgac196] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Indexed: 02/01/2023]
Abstract
The morphology, physiology, and behavior of marine organisms have been a valuable source of inspiration for solving conceptual and design problems. Here, we introduce this rich and rapidly expanding field of marine biomimetics, and identify it as a poorly articulated and often overlooked element of the ocean economy associated with substantial monetary benefits. We showcase innovations across seven broad categories of marine biomimetic design (adhesion, antifouling, armor, buoyancy, movement, sensory, stealth), and use this framing as context for a closer consideration of the increasingly frequent focus on deep-sea life as an inspiration for biomimetic design. We contend that marine biomimetics is not only a "forgotten" sector of the ocean economy, but has the potential to drive appreciation of nonmonetary values, conservation, and stewardship, making it well-aligned with notions of a sustainable blue economy. We note, however, that the highest ambitions for a blue economy are that it not only drives sustainability, but also greater equity and inclusivity, and conclude by articulating challenges and considerations for bringing marine biomimetics onto this trajectory.
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Affiliation(s)
- Robert Blasiak
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden
- Graduate School of Agricultural and Life Sciences, The University of Tokyo, 1-1-1, Yayoi, Bunkyo-ku, Tokyo 113-8657, Japan
| | | | - Diva J Amon
- SpeSeas, D'Abadie, Trinidad and Tobago
- Marine Science Institute, University of California, Santa Barbara, CA 93106, USA
| | - Fredrik Moberg
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden
| | - Joachim Claudet
- National Center for Scientific Research, PSL Université Paris, CRIOBE, CNRS-EPHE-UPVD, Maison de l'Océan, 195 rue Saint-Jacques, 75005 Paris, France
| | - Peter Søgaard Jørgensen
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden
- The Global Economic Dynamics and the Biosphere Academy Program, Royal Swedish Academy of Science, 104 05 Stockholm, Sweden
| | - Agnes Pranindita
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden
| | - Colette C C Wabnitz
- Stanford Center for Ocean Solutions, Stanford University, 473 Via Ortega, Stanford, CA 94305, USA
- Institute for the Oceans and Fisheries, The University of British Columbia, 2202 Main Mall, Vancouver, BC V6T1Z4, Canada
| | - Henrik Österblom
- Stockholm Resilience Centre, Stockholm University, 106 91 Stockholm, Sweden
- Graduate School of Agricultural and Life Sciences, The University of Tokyo, 1-1-1, Yayoi, Bunkyo-ku, Tokyo 113-8657, Japan
- South American Institute for Resilience and Sustainability Studies, CP 20200 Maldonado, Uruguay
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48
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Tanaka Y, Ma D, Amaya S, Aishan Y, Shen Y, Funano SI, Tang T, Hosokawa Y, Gusev O, Okuda T, Kikawada T, Yalikun Y. Anhydrobiotic chironomid larval motion-based multi-sensing microdevice for the exploration of survivable locations. iScience 2022; 25:104639. [PMID: 36039361 PMCID: PMC9418600 DOI: 10.1016/j.isci.2022.104639] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/28/2022] [Revised: 05/31/2022] [Accepted: 06/14/2022] [Indexed: 11/30/2022] Open
Abstract
African chironomid (Polypedilum vanderplanki) larvae can suspend their metabolism by undergoing severe desiccation and then resume this activity by simple rehydration. We present a microdevice using interdigital comb electrodes to detect the larval motion using the natural surface charge of the living larvae in water. The larvae were most active 2 h after soaking them in water at 30°C; they exhibited motions with 2 Hz frequency. This was comparable to the signal obtained from the microdevice via fast Fourier transform (FFT) processing. The amplitude of the voltage and current were 0.11 mV and 730 nA, respectively. They would be enough to be detected by a low power consumption microcomputer. Temperature and pH sensing were demonstrated by detecting the vital motions of the revived larvae under different conditions. This multi-functional biosensor will be a useful microdevice to search for survivable locations under extreme environmental conditions like those on other planets.
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Affiliation(s)
- Yo Tanaka
- Center for Biosystems Dynamics Research (BDR), RIKEN, 1-3 Yamadaoka, Suita, Osaka 565-0871, Japan
- Graduate School of Frontier Biosciences, Osaka University, 1-3 Yamadaoka, Suita, Osaka 565-0871, Japan
| | - Doudou Ma
- Center for Biosystems Dynamics Research (BDR), RIKEN, 1-3 Yamadaoka, Suita, Osaka 565-0871, Japan
- Graduate School of Frontier Biosciences, Osaka University, 1-3 Yamadaoka, Suita, Osaka 565-0871, Japan
| | - Satoshi Amaya
- Center for Biosystems Dynamics Research (BDR), RIKEN, 1-3 Yamadaoka, Suita, Osaka 565-0871, Japan
| | - Yusufu Aishan
- Center for Biosystems Dynamics Research (BDR), RIKEN, 1-3 Yamadaoka, Suita, Osaka 565-0871, Japan
- Graduate School of Frontier Biosciences, Osaka University, 1-3 Yamadaoka, Suita, Osaka 565-0871, Japan
| | - Yigang Shen
- Center for Biosystems Dynamics Research (BDR), RIKEN, 1-3 Yamadaoka, Suita, Osaka 565-0871, Japan
| | - Shun-ichi Funano
- Center for Biosystems Dynamics Research (BDR), RIKEN, 1-3 Yamadaoka, Suita, Osaka 565-0871, Japan
| | - Tao Tang
- Graduate School of Nara Institute of Science and Technology, 8916-5 Takayamacho, Ikoma, Nara 630-0192, Japan
| | - Yoichiroh Hosokawa
- Graduate School of Nara Institute of Science and Technology, 8916-5 Takayamacho, Ikoma, Nara 630-0192, Japan
| | - Oleg Gusev
- RIKEN Cluster for Science, Technology and Innovation Hub (RCSTI), RIKEN, 1-7-22 Suehiro-cho, Tsurumi-ku, Yokohama, Kanagawa 230-0045, Japan
| | - Takashi Okuda
- Institute of Agrobiological Sciences, NARO, 1-2 Owashi, Tsukuba, Ibaraki 305-8634, Japan
| | - Takahiro Kikawada
- Institute of Agrobiological Sciences, NARO, 1-2 Owashi, Tsukuba, Ibaraki 305-8634, Japan
| | - Yaxiaer Yalikun
- Center for Biosystems Dynamics Research (BDR), RIKEN, 1-3 Yamadaoka, Suita, Osaka 565-0871, Japan
- Graduate School of Nara Institute of Science and Technology, 8916-5 Takayamacho, Ikoma, Nara 630-0192, Japan
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49
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Tetsuka H, Pirrami L, Wang T, Demarchi D, Shin SR. Wirelessly Powered 3D Printed Hierarchical Biohybrid Robots with Multiscale Mechanical Properties. ADVANCED FUNCTIONAL MATERIALS 2022; 32:2202674. [PMID: 36313126 PMCID: PMC9603592 DOI: 10.1002/adfm.202202674] [Citation(s) in RCA: 11] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/10/2023]
Abstract
The integration of flexible and stretchable electronics into biohybrid soft robotics can spur the development of new approaches to fabricate biohybrid soft machines, thus enabling a wide variety of innovative applications. Inspired by flexible and stretchable wireless-based bioelectronic devices, we have developed untethered biohybrid soft robots that can execute swimming motions, which are remotely controllable by the wireless transmission of electrical power into a cell simulator. To this end, wirelessly-powered, stretchable, and lightweight cell stimulators were designed to be integrated into muscle bodies without impeding the robots' underwater swimming abilities. The cell stimulators function by generating controlled monophasic pulses of up to ∼9 V in biological environments. By differentiating induced pluripotent stem cell-derived cardiomyocytes (iPSC-CMs) directly on the cell stimulators using an accordion-inspired, three-dimensional (3D) printing construct, we have replicated the native myofiber architecture with comparable robustness and enhanced contractibility. Wirelessly modulated electrical frequencies enabled us to control the speed and direction of the biohybrid soft robots. A maximum locomotion speed of ∼580 μm/s was achieved in robots possessing a large body size by adjusting the pacing frequency. This innovative approach will provide a platform for building untethered and biohybrid systems for various biomedical applications.
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Affiliation(s)
- Hiroyuki Tetsuka
- Division of Engineering in Medicine, Department of Medicine, Brigham and Women's Hospital, Harvard Medical School, 65 Lansdowne Street, Cambridge, Massachusetts, 02139 USA
- Future Mobility Research Department, Toyota Research Institute of North America, Toyota Motor North America, 1555 Woodridge Avenue, Ann Arbor, Michigan, 48105 USA
| | - Lorenzo Pirrami
- iPrint Institute, HEIA-FR, HES-SO University of Applied Sciences and Arts Western Switzerland, Fribourg-1700, Switzerland
| | - Ting Wang
- Division of Engineering in Medicine, Department of Medicine, Brigham and Women's Hospital, Harvard Medical School, 65 Lansdowne Street, Cambridge, Massachusetts, 02139 USA
| | - Danilo Demarchi
- Department of Electronics and Telecommunications, Politecnico di Torino, Turin 10129, Italy
| | - Su Ryon Shin
- Division of Engineering in Medicine, Department of Medicine, Brigham and Women's Hospital, Harvard Medical School, 65 Lansdowne Street, Cambridge, Massachusetts, 02139 USA
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50
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Wang J, Soto F, Ma P, Ahmed R, Yang H, Chen S, Wang J, Liu C, Akin D, Fu K, Cao X, Chen P, Hsu EC, Soh HT, Stoyanova T, Wu JC, Demirci U. Acoustic Fabrication of Living Cardiomyocyte-based Hybrid Biorobots. ACS NANO 2022; 16:10219-10230. [PMID: 35671037 DOI: 10.1021/acsnano.2c01908] [Citation(s) in RCA: 12] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/15/2023]
Abstract
Organized assemblies of cells have demonstrated promise as bioinspired actuators and devices; still, the fabrication of such "biorobots" has predominantly relied on passive assembly methods that reduce design capabilities. To address this, we have developed a strategy for the rapid formation of functional biorobots composed of live cardiomyocytes. We employ tunable acoustic fields to facilitate the efficient aggregation of millions of cells into high-density macroscopic architectures with directed cell orientation and enhanced cell-cell interaction. These biorobots can perform actuation functions both through naturally occurring contraction-relaxation cycles and through external control with chemical and electrical stimuli. We demonstrate that these biorobots can be used to achieve controlled actuation of a soft skeleton and pumping of microparticles. The biocompatible acoustic assembly strategy described here should prove generally useful for cellular manipulation in the context of tissue engineering, soft robotics, and other applications.
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Affiliation(s)
- Jie Wang
- Bio-Acoutic MEMS in Medicine (BAMM) Laboratory, Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine Stanford University, Palo Alto, California 94304-5427, United States
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Fernando Soto
- Bio-Acoutic MEMS in Medicine (BAMM) Laboratory, Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine Stanford University, Palo Alto, California 94304-5427, United States
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Peng Ma
- Bio-Acoutic MEMS in Medicine (BAMM) Laboratory, Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine Stanford University, Palo Alto, California 94304-5427, United States
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Rajib Ahmed
- Bio-Acoutic MEMS in Medicine (BAMM) Laboratory, Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine Stanford University, Palo Alto, California 94304-5427, United States
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Huaxiao Yang
- Stanford Cardiovascular Institute, Stanford University, Palo Alto, California 94304-5427, United States
| | - Sihan Chen
- Department of Biomedical Engineering, Wuhan University School of Basic Medical Sciences, Wuhan, 430071, China
- Hubei Province Key Laboratory of Allergy and Immunology, Wuhan, Hubei 430071, China
| | - Jibo Wang
- Department of Biomedical Engineering, Wuhan University School of Basic Medical Sciences, Wuhan, 430071, China
- Hubei Province Key Laboratory of Allergy and Immunology, Wuhan, Hubei 430071, China
| | - Chun Liu
- Stanford Cardiovascular Institute, Stanford University, Palo Alto, California 94304-5427, United States
| | - Demir Akin
- Bio-Acoutic MEMS in Medicine (BAMM) Laboratory, Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine Stanford University, Palo Alto, California 94304-5427, United States
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Kaiyu Fu
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
- Department of Electrical Engineering, Stanford University, Stanford, California 94305, United States
| | - Xu Cao
- Stanford Cardiovascular Institute, Stanford University, Palo Alto, California 94304-5427, United States
| | - Pu Chen
- Department of Biomedical Engineering, Wuhan University School of Basic Medical Sciences, Wuhan, 430071, China
- Hubei Province Key Laboratory of Allergy and Immunology, Wuhan, Hubei 430071, China
| | - En-Chi Hsu
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Hyongsok Tom Soh
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
- Department of Electrical Engineering, Stanford University, Stanford, California 94305, United States
| | - Tanya Stoyanova
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
| | - Joseph C Wu
- Stanford Cardiovascular Institute, Stanford University, Palo Alto, California 94304-5427, United States
| | - Utkan Demirci
- Bio-Acoutic MEMS in Medicine (BAMM) Laboratory, Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine Stanford University, Palo Alto, California 94304-5427, United States
- Canary Center at Stanford for Cancer Early Detection, Department of Radiology, School of Medicine, Stanford University, Palo Alto, California 94304-5427, United States
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