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Wang R, Zhang C, Zhang Y, Yang L, Tan W, Qin H, Wang F, Liu L. Fast-Swimming Soft Robotic Fish Actuated by Bionic Muscle. Soft Robot 2024. [PMID: 38407844 DOI: 10.1089/soro.2023.0163] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/27/2024] Open
Abstract
Soft underwater swimming robots actuated by smart materials have unique advantages in exploring the ocean, such as low noise, high flexibility, and friendly environment interaction ability. However, most of them typically exhibit limited swimming speed and flexibility due to the inherent characteristics of soft actuation materials. The actuation method and structural design of soft robots are key elements to improve their motion performance. Inspired by the muscle actuation and swimming mechanism of natural fish, a fast-swimming soft robotic fish actuated by a bionic muscle actuator made of dielectric elastomer is presented. The results show that by controlling the two independent actuating units of a biomimetic actuator, the robotic fish can not only achieve continuous C-shaped body motion similar to natural fish but also have a large bending angle (maximum unidirectional angle is about 40°) and thrust force (peak thrust is about 14 mN). In addition, the coupling relationship between the swimming speed and actuating parameters of the robotic fish is established through experiments and theoretical analysis. By optimizing the control strategy, the robotic fish can demonstrate a fast swimming speed of 76 mm/s (0.76 body length/s), which is much faster than most of the reported soft robotic fish driven by nonbiological soft materials that swim in body and/or caudal fin propulsion mode. What's more, by applying programmed voltage excitation to the actuating units of the bionic muscle, the robotic fish can be steered along specific trajectories, such as continuous turning motions and an S-shaped routine. This study is beneficial for promoting the design and development of high-performance soft underwater robots, and the adopted biomimetic mechanisms, as well as actuating methods, can be extended to other various flexible devices and soft robots.
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Affiliation(s)
- Ruiqian Wang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of the Chinese Academy of Sciences, Beijing, China
| | - Chuang Zhang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
| | - Yiwei Zhang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of the Chinese Academy of Sciences, Beijing, China
| | - Lianchao Yang
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of the Chinese Academy of Sciences, Beijing, China
| | - Wenjun Tan
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of the Chinese Academy of Sciences, Beijing, China
| | - Hengshen Qin
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
- University of the Chinese Academy of Sciences, Beijing, China
| | - Feifei Wang
- Department of Electrical and Electronic Engineering, University of Hong Kong, Hong Kong, China
| | - Lianqing Liu
- State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
- Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
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Riener R, Rabezzana L, Zimmermann Y. Do robots outperform humans in human-centered domains? Front Robot AI 2023; 10:1223946. [PMID: 38023587 PMCID: PMC10661952 DOI: 10.3389/frobt.2023.1223946] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/16/2023] [Accepted: 10/09/2023] [Indexed: 12/01/2023] Open
Abstract
The incessant progress of robotic technology and rationalization of human manpower induces high expectations in society, but also resentment and even fear. In this paper, we present a quantitative normalized comparison of performance, to shine a light onto the pressing question, "How close is the current state of humanoid robotics to outperforming humans in their typical functions (e.g., locomotion, manipulation), and their underlying structures (e.g., actuators/muscles) in human-centered domains?" This is the most comprehensive comparison of the literature so far. Most state-of-the-art robotic structures required for visual, tactile, or vestibular perception outperform human structures at the cost of slightly higher mass and volume. Electromagnetic and fluidic actuation outperform human muscles w.r.t. speed, endurance, force density, and power density, excluding components for energy storage and conversion. Artificial joints and links can compete with the human skeleton. In contrast, the comparison of locomotion functions shows that robots are trailing behind in energy efficiency, operational time, and transportation costs. Robots are capable of obstacle negotiation, object manipulation, swimming, playing soccer, or vehicle operation. Despite the impressive advances of humanoid robots in the last two decades, current robots are not yet reaching the dexterity and versatility to cope with more complex manipulation and locomotion tasks (e.g., in confined spaces). We conclude that state-of-the-art humanoid robotics is far from matching the dexterity and versatility of human beings. Despite the outperforming technical structures, robot functions are inferior to human ones, even with tethered robots that could place heavy auxiliary components off-board. The persistent advances in robotics let us anticipate the diminishing of the gap.
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Affiliation(s)
- Robert Riener
- Sensory-Motor Systems Laboratory, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland
- Paraplegic Center, University Hospital Balgrist, University of Zurich, Zurich, Switzerland
| | - Luca Rabezzana
- Sensory-Motor Systems Laboratory, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland
| | - Yves Zimmermann
- Sensory-Motor Systems Laboratory, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland
- Robotic-Systems Laboratory, Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland
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De Pascali C, Palagi S, Mazzolai B. 3D-printed hierarchical arrangements of actuators mimicking biological muscular architectures. BIOINSPIRATION & BIOMIMETICS 2023; 18:046014. [PMID: 37116509 DOI: 10.1088/1748-3190/acd159] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/19/2023]
Abstract
Being able to imitate the sophisticated muscular architectures that characterize the animal kingdom in biomimetic machines would allow them to perform articulated movements with the same naturalness. In soft robotics, multiple actuation technologies have been developed to mimic the contraction of a single natural muscle, but a few of them can be implemented in complex architectures capable of diversifying deformations and forces. In this work, we present three different biomimetic muscle architectures, i.e., fusiform, parallel, and bipennate, which are based on hierarchical arrangements of multiple pneumatic actuators. These biomimetic architectures are monolithic structures composed of thirty-six pneumatic actuators each, directly 3D printed through low-cost printers and commercial materials without any assembly phase. The considerable number of actuators involved enabled the adoption and consequent comparison of two regulation strategies: one based on input modulation, commonly adopted in pneumatic systems, and one based on fiber recruitment, mimicking the regulation behavior of natural muscles. The straightforward realization through additive manufacturing processes of muscle architectures regulated by fiber recruitment strategies facilitates the development of articulated muscular systems for biomimetics machines increasingly similar to the natural ones.
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Affiliation(s)
- Corrado De Pascali
- Istituto Italiano di Tecnologia, Via Morego 30, Genova, Liguria, 16163, ITALY
| | - Stefano Palagi
- Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, Pontedera, 56025, ITALY
| | - Barbara Mazzolai
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia, Via Morego 30, Genova, Liguria, 16163, ITALY
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4
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Flash T, Zullo L. Biomechanics, motor control and dynamic models of the soft limbs of the octopus and other cephalopods. J Exp Biol 2023; 226:307147. [PMID: 37083140 DOI: 10.1242/jeb.245295] [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] [Indexed: 04/22/2023]
Abstract
Muscular hydrostats are organs composed entirely of packed arrays of incompressible muscles and lacking any skeletal support. Found in both vertebrates and invertebrates, they are of great interest for comparative biomechanics from engineering and evolutionary perspectives. The arms of cephalopods (e.g. octopus and squid) are particularly interesting muscular hydrostats because of their flexibility and ability to generate complex behaviors exploiting elaborate nervous systems. Several lines of evidence from octopus studies point to the use of both brain and arm-embedded motor control strategies that have evolved to simplify the complexities associated with the control of flexible and hyper-redundant limbs and bodies. Here, we review earlier and more recent experimental studies on octopus arm biomechanics and neural motor control. We review several dynamic models used to predict the kinematic characteristics of several basic motion primitives, noting the shortcomings of the current models in accounting for behavioral observations. We also discuss the significance of impedance (stiffness and viscosity) in controlling the octopus's motor behavior. These factors are considered in light of several new models of muscle biomechanics that could be used in future research to gain a better understanding of motor control in the octopus. There is also a need for updated models that encompass stiffness and viscosity for designing and controlling soft robotic arms. The field of soft robotics has boomed over the past 15 years and would benefit significantly from further progress in biomechanical and motor control studies on octopus and other muscular hydrostats.
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Affiliation(s)
- Tamar Flash
- Department of Computer Science and Applied Mathematics, Weizmann Institute of Science, Rehovot 76100, Israel
| | - Letizia Zullo
- Bioinspired Soft Robotics & Center for Synaptic Neuroscience and Technology (NSYN), Istituto Italiano di Tecnologia, Largo Rosanna Benzi 10, 16132 Genova, Italy
- IRCCS Ospedale Policlinico San Martino, Largo Rosanna Benzi 10, 16132 Genova, Italy
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Leng X, Mei G, Zhang G, Liu Z, Zhou X. Tethering of twisted-fiber artificial muscles. Chem Soc Rev 2023; 52:2377-2390. [PMID: 36919405 DOI: 10.1039/d2cs00489e] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/16/2023]
Abstract
Twisted-fiber artificial muscles, a new type of soft actuator, exhibit significant potential for use in applications related to lightweight smart devices and soft robotics. Fiber twisting generates internal torque and a spiral architecture, exhibiting rotation, contraction, or elongation as a result of fiber volume change. Untethering a twisted fiber often results in fiber untwisting and loss of stored torque energy. Preserving the torque in twisted fibers during actuation is necessary to realize a reversible and stable artificial muscle performance; this is a key issue that has not yet been systematically discussed and reviewed. This review summarizes the mechanisms for preserving the torque within twisted fibers and the potential applications of such systems. The potential challenges and future directions of research related to twisted-fiber artificial muscles are also discussed.
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Affiliation(s)
- Xueqi Leng
- Department of Science, China Pharmaceutical University, Nanjing 211198, China. .,State Key Laboratory of Medicinal Chemical Biology, Key Laboratory of Functional Polymer Materials, Smart Sensing Interdisciplinary Science Center, College of Chemistry, Nankai University, Tianjin 300350, China.
| | - Guangkai Mei
- State Key Laboratory of Medicinal Chemical Biology, Key Laboratory of Functional Polymer Materials, Smart Sensing Interdisciplinary Science Center, College of Chemistry, Nankai University, Tianjin 300350, China.
| | - Guanghao Zhang
- State Key Laboratory of Medicinal Chemical Biology, Key Laboratory of Functional Polymer Materials, Smart Sensing Interdisciplinary Science Center, College of Chemistry, Nankai University, Tianjin 300350, China.
| | - Zunfeng Liu
- State Key Laboratory of Medicinal Chemical Biology, Key Laboratory of Functional Polymer Materials, Smart Sensing Interdisciplinary Science Center, College of Chemistry, Nankai University, Tianjin 300350, China.
| | - Xiang Zhou
- Department of Science, China Pharmaceutical University, Nanjing 211198, China. .,State Key Laboratory of Medicinal Chemical Biology, Key Laboratory of Functional Polymer Materials, Smart Sensing Interdisciplinary Science Center, College of Chemistry, Nankai University, Tianjin 300350, China.
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6
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Jeong S, Nishikawa K. The force response of muscles to activation and length perturbations depends on length history. J Exp Biol 2023; 226:286982. [PMID: 36655760 DOI: 10.1242/jeb.243991] [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: 05/30/2022] [Accepted: 01/13/2023] [Indexed: 01/20/2023]
Abstract
Recent studies have demonstrated that muscle force is not determined solely by activation under dynamic conditions, and that length history has an important role in determining dynamic muscle force. Yet, the mechanisms for how muscle force is produced under dynamic conditions remain unclear. To explore this, we investigated the effects of muscle stiffness, activation and length perturbations on muscle force. First, submaximal isometric contraction was established for whole soleus muscles. Next, the muscles were actively shortened at three velocities. During active shortening, we measured muscle stiffness at optimal muscle length (L0) and the force response to time-varying activation and length perturbations. We found that muscle stiffness increased with activation but decreased as shortening velocity increased. The slope of the relationship between maximum force and activation amplitude differed significantly among shortening velocities. Also, the intercept and slope of the relationship between length perturbation amplitude and maximum force decreased with shortening velocity. As shortening velocities were related to muscle stiffness, the results suggest that length history determines muscle stiffness and the history-dependent muscle stiffness influences the contribution of activation and length perturbations to muscle force. A two-parameter viscoelastic model including a linear spring and a linear damper in parallel with measured stiffness predicted history-dependent muscle force with high accuracy. The results and simulations support the hypothesis that muscle force under dynamic conditions can be accurately predicted as the force response of a history-dependent viscoelastic material to length perturbations.
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Affiliation(s)
- Siwoo Jeong
- Department of Biological Sciences, Northern Arizona University, Flagstaff, AZ 86011-5640, USA
| | - Kiisa Nishikawa
- Department of Biological Sciences, Northern Arizona University, Flagstaff, AZ 86011-5640, USA
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Jing Y, Su F, Yu X, Fang H, Wan Y. Advances in artificial muscles: A brief literature and patent review. Front Bioeng Biotechnol 2023; 11:1083857. [PMID: 36741767 PMCID: PMC9893653 DOI: 10.3389/fbioe.2023.1083857] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/29/2022] [Accepted: 01/03/2023] [Indexed: 01/20/2023] Open
Abstract
Background: Artificial muscles are an active research area now. Methods: A bibliometric analysis was performed to evaluate the development of artificial muscles based on research papers and patents. A detailed overview of artificial muscles' scientific and technological innovation was presented from aspects of productive countries/regions, institutions, journals, researchers, highly cited papers, and emerging topics. Results: 1,743 papers and 1,925 patents were identified after retrieval in Science Citation Index-Expanded (SCI-E) and Derwent Innovations Index (DII). The results show that China, the United States, and Japan are leading in the scientific and technological innovation of artificial muscles. The University of Wollongong has the most publications and Spinks is the most productive author in artificial muscle research. Smart Materials and Structures is the journal most productive in this field. Materials science, mechanical and automation, and robotics are the three fields related to artificial muscles most. Types of artificial muscles like pneumatic artificial muscles (PAMs) and dielectric elastomer actuator (DEA) are maturing. Shape memory alloy (SMA), carbon nanotubes (CNTs), graphene, and other novel materials have shown promising applications in this field. Conclusion: Along with the development of new materials and processes, researchers are paying more attention to the performance improvement and cost reduction of artificial muscles.
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Affiliation(s)
- Yuan Jing
- Periodicals Agency, Zhejiang Sci-Tech University, Hangzhou, China,*Correspondence: Yuan Jing,
| | - Fangfang Su
- School of Economics and Management, Zhejiang Sci-Tech University, Hangzhou, China
| | - Xiaona Yu
- Periodicals Agency, Zhejiang Sci-Tech University, Hangzhou, China
| | - Hui Fang
- Library, Zhejiang University of Technology, Hangzhou, China
| | - Yuehua Wan
- Library, Zhejiang University of Technology, Hangzhou, China
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8
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Ren Z, Shao Y. Future bio-inspired robots require delicate structures. Front Robot AI 2022; 9:1073329. [PMID: 36618011 PMCID: PMC9811312 DOI: 10.3389/frobt.2022.1073329] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/18/2022] [Accepted: 12/12/2022] [Indexed: 12/24/2022] Open
Affiliation(s)
- Ziyu Ren
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany,*Correspondence: Ziyu Ren, ; Yuxiu Shao,
| | - Yuxiu Shao
- Laboratoire de Neurosciences Cognitives et Computationnelles, INSERM U960, Ecole Normale Superieure—PSL Research University, Paris, France,*Correspondence: Ziyu Ren, ; Yuxiu Shao,
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Perrier R, Tadrist L, Linares JM. Damage resilience of manufactured and biological actuators. BIOINSPIRATION & BIOMIMETICS 2022; 18:016006. [PMID: 36322997 DOI: 10.1088/1748-3190/ac9fb6] [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: 06/16/2022] [Accepted: 11/01/2022] [Indexed: 06/16/2023]
Abstract
Designing resilient actuators is a challenge for industry, in part because an index for resilience has yet to be established. In this work, several definitions of resilience are analysed and, on the basis of this, an index quantifying resilience for actuators is proposed. This index does indeed allow for the resilience computation of a wide range of manufactured and biological actuators to be compared. The two manufactured actuators chosen as iconic models are a hydraulic cylinder and a bio-inspired McKibben muscle, and these are shown not to be resilient by design. In addition, two biological actuators likely to be resilient were also analysed. The pulvinus resilience index shows that it is partly resilient depending on damage location. But the most promising is the skeletal muscle, which has been shown to be highly resilient. Finally, the bio-inspired roots of resilience are discussed: resilience may originate from multi-scale structural design.
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Affiliation(s)
| | - Loïc Tadrist
- Aix Marseille University, CNRS, ISM, Marseille, France
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10
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McGrath J, Alvarado J. Hill-type, bioinspired actuation delivers energy economy in DC motors. BIOINSPIRATION & BIOMIMETICS 2022; 17:066021. [PMID: 36228607 DOI: 10.1088/1748-3190/ac9a1a] [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: 02/11/2022] [Accepted: 10/13/2022] [Indexed: 06/16/2023]
Abstract
Electromagnetic motors convert stored energy to mechanical work through a linear force-velocity (FV) relationship. In biological systems, however, muscle actuation is characterized by the hyperbolic FV mechanisms of the Hill muscle-in which a parameterαcharacterizes the degree of nonlinearity. Previous work has shown that bioinspiration in human-engineered systems can contribute favorable mechanical attributes-such as energy efficiency, self-stability, and flexibility, among others. In this study, we first construct an easily amendable, bioinspired electromagnetic motor which produces FV curves that mimic the Hill model of muscle with a high degree of accuracy. A proportional-integral-differential (PID) controller converges the characteristically linear FV relationship of a DC motor to nonlinear Hill-type force outputs. The bioinspired electric motor does a fixed amount of work by lifting a 147.5 g mass, and we record the translational velocity of the mass and the nonlinear applied force of the motor. Under optimized gain coefficients in the PID, the bioinspired motor achieves agreement ofR2>0.99with the Hill muscle model. Studies have shown that designing biologically inspired actuators produce comparatively energy efficient systems. We investigate the energy economy of actuating our motor with nonlinear, Hill-type forces in direct comparison with conventional linear FV actuation techniques. We find that the bioinspired motor delivers energy economy with respect to energy consumption and conversion: the nonlinear, Hill-type DC motor reduces the energetic cost of actuation when delivering a fixed amount of mechanical work.
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Affiliation(s)
- Jake McGrath
- Department of Physics, University of Texas at Austin, Austin, TX, United States of America
| | - José Alvarado
- Department of Physics, University of Texas at Austin, Austin, TX, United States of America
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Zhang Z, Zhang J, Luo Q, Chou CH, Xie A, Niu CM, Hao M, Lan N. A Biorealistic Computational Model Unfolds Human-Like Compliant Properties for Control of Hand Prosthesis. IEEE OPEN JOURNAL OF ENGINEERING IN MEDICINE AND BIOLOGY 2022; 3:150-161. [PMID: 36712316 PMCID: PMC9870270 DOI: 10.1109/ojemb.2022.3215726] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/15/2022] [Revised: 06/17/2022] [Accepted: 10/10/2022] [Indexed: 11/06/2022] Open
Abstract
Objective: Human neuromuscular reflex control provides a biological model for a compliant hand prosthesis. Here we present a computational approach to understanding the emerging human-like compliance, force and position control, and stiffness adaptation in a prosthetic hand with a replica of human neuromuscular reflex. Methods: A virtual twin of prosthetic hand was constructed in the MuJoCo environment with a tendon-driven anthropomorphic hand structure. Biorealistic mathematic models of muscle, spindle, spiking-neurons and monosynaptic reflex were implemented in neuromorphic chips to drive the virtual hand for real-time control. Results: Simulation showed that the virtual hand acquired human-like ability to control fingertip position, force and stiffness for grasp, as well as the capacity to interact with soft objects by adaptively adjusting hand stiffness. Conclusion: The biorealistic neuromorphic reflex model restores human-like neuromuscular properties for hand prosthesis to interact with soft objects.
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Affiliation(s)
- Zhuozhi Zhang
- Laboratory of Neurorehabilitation Engineering, School of Biomedical EngineeringShanghai Jiao Tong University Shanghai 200240 China
| | - Jie Zhang
- Laboratory of Neurorehabilitation Engineering, School of Biomedical EngineeringShanghai Jiao Tong University Shanghai 200240 China
| | - Qi Luo
- Laboratory of Neurorehabilitation Engineering, School of Biomedical EngineeringShanghai Jiao Tong University Shanghai 200240 China
| | - Chih-Hong Chou
- Laboratory of Neurorehabilitation Engineering, School of Biomedical EngineeringShanghai Jiao Tong University Shanghai 200240 China
- Institute of Medical RoboticsShanghai Jiao Tong University Shanghai 200240 China
| | - Anran Xie
- Laboratory of Neurorehabilitation Engineering, School of Biomedical EngineeringShanghai Jiao Tong University Shanghai 200240 China
| | - Chuanxin M Niu
- Laboratory of Neurorehabilitation Engineering, School of Biomedical EngineeringShanghai Jiao Tong University Shanghai 200240 China
- Institute of Medical RoboticsShanghai Jiao Tong University Shanghai 200240 China
| | - Manzhao Hao
- Laboratory of Neurorehabilitation Engineering, School of Biomedical EngineeringShanghai Jiao Tong University Shanghai 200240 China
- Institute of Medical RoboticsShanghai Jiao Tong University Shanghai 200240 China
| | - Ning Lan
- Laboratory of Neurorehabilitation Engineering, School of Biomedical EngineeringShanghai Jiao Tong University Shanghai 200240 China
- Institute of Medical RoboticsShanghai Jiao Tong University Shanghai 200240 China
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12
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Tadrist L, Mammadi Y, Diperi J, Linares JM. Deformation and mechanics of a pulvinus-inspired material. BIOINSPIRATION & BIOMIMETICS 2022; 17:065002. [PMID: 35944519 DOI: 10.1088/1748-3190/ac884f] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/18/2022] [Accepted: 08/09/2022] [Indexed: 06/15/2023]
Abstract
Mimosa pudicarapidly folds leaves when touched. Motion is created by pulvini, 'the plant muscles' that allow plants to produce various complex motions. Plants rely on local control of the turgor pressure to create on-demand motion. In this paper, the mechanics of a cellular material inspired from pulvinus ofM. pudicais studied. First, the manufacturing process of a cell-controllable material is described. Its deformation behaviour when pressured is tested, focusing on three pressure patterns of reference. The deformations are modelled based on the minimisation of elastic energy framework. Depending on pressurisation pattern and magnitude, reversible buckling-induced motion may occur.
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Affiliation(s)
- Loïc Tadrist
- Aix-Marseille Université, CNRS, ISM, Marseille, France
| | | | - Julien Diperi
- Aix-Marseille Université, CNRS, ISM, Marseille, France
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Abstract
In this overview of recent developments in the field of biorobotics we cover the developments in materials such as the use of polyester fabric being used as artificial skin and the start of whole new ways to actuate artificial muscles as a whole. In this, we discuss all of the relevant innovations from the fields of nano and microtechnology, as well as in the field of soft robotics to summarize what has been over the last 4 years and what could be improved for artificial muscles in the future. The goal of this paper will be to gain a better understanding of where the current field of biorobotics is at and what its current trends in manufacturing and its techniques are within the last several years.
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