1
|
Owaki D, Dürr V, Schmitz J. A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties. eLife 2023; 12:e85275. [PMID: 37703327 PMCID: PMC10499373 DOI: 10.7554/elife.85275] [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: 11/30/2022] [Accepted: 08/29/2023] [Indexed: 09/15/2023] Open
Abstract
Cyborg control of insect movement is promising for developing miniature, high-mobility, and efficient biohybrid robots. However, considering the inter-individual variation of the insect neuromuscular apparatus and its neural control is challenging. We propose a hierarchical model including inter-individual variation of muscle properties of three leg muscles involved in propulsion (retractor coxae), joint stiffness (pro- and retractor coxae), and stance-swing transition (protractor coxae and levator trochanteris) in the stick insect Carausius morosus. To estimate mechanical effects induced by external muscle stimulation, the model is based on the systematic evaluation of joint torques as functions of electrical stimulation parameters. A nearly linear relationship between the stimulus burst duration and generated torque was observed. This stimulus-torque characteristic holds for burst durations of up to 500ms, corresponding to the stance and swing phase durations of medium to fast walking stick insects. Hierarchical Bayesian modeling revealed that linearity of the stimulus-torque characteristic was invariant, with individually varying slopes. Individual prediction of joint torques provides significant benefits for precise cyborg control.
Collapse
Affiliation(s)
- Dai Owaki
- Department of Robotics, Graduate School of Engineering, Tohoku UniversitySendaiJapan
| | - Volker Dürr
- Department of Biological Cybernetics, Faculty of Biology, Bielefeld UniversityBielefeldGermany
- Centre for Cognitive Interaction Technology, Bielefeld UniversityBielefeldGermany
| | - Josef Schmitz
- Department of Biological Cybernetics, Faculty of Biology, Bielefeld UniversityBielefeldGermany
- Centre for Cognitive Interaction Technology, Bielefeld UniversityBielefeldGermany
| |
Collapse
|
2
|
许 孟, 蒲 鑫, 常 铭, 宋 阳, 马 福, 槐 瑞, 杨 俊, 常 辉, 邵 峰, 汪 慧. [Simulation design and experimental study of magnetic stimulation coil for robot pigeon]. SHENG WU YI XUE GONG CHENG XUE ZA ZHI = JOURNAL OF BIOMEDICAL ENGINEERING = SHENGWU YIXUE GONGCHENGXUE ZAZHI 2023; 40:141-148. [PMID: 36854559 PMCID: PMC9989769 DOI: 10.7507/1001-5515.202211057] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Subscribe] [Scholar Register] [Received: 11/21/2022] [Revised: 01/31/2023] [Indexed: 03/02/2023]
Abstract
To explore the feasibility of applying magnetic stimulation technology to the movement control of animal robots, the influence of coil radius, number of turns and other factors on the intensity, depth and focus of magnetic stimulation was simulated and analyzed for robot pigeons. The coil design scheme was proposed. The coil was placed on the head and one of the legs of the pigeon, and the leg electromyography (EMG) was recorded when magnetic stimulation was performed. Results showed that the EMG was significantly strengthened during magnetic stimulation. With the reduction of the output frequency of the magnetic stimulation system, the output current was increased and the EMG was enhanced accordingly. Compared with the brain magnetic stimulation, sciatic nerve stimulation produced a more significant EMG enhancement response. This indicated that the magnetic stimulation system could effectively modulate the functions of brain and peripheral nerves by driving the coil. This study provides theoretical and experimental guidance for the subsequent optimization and improvement of practical coils, and lays a preliminary theoretical and experimental foundation for the implementation of magnetic stimulation motion control of animal robots.
Collapse
Affiliation(s)
- 孟华 许
- 山东科技大学 山东省机器人与智能技术重点实验室(山东青岛 266510)Shandong Key Laboratory of Robot and Intelligent Technology, Shandong University of Science and Technology, Qingdao, Shandong 266510, P. R. China
| | - 鑫 蒲
- 山东科技大学 山东省机器人与智能技术重点实验室(山东青岛 266510)Shandong Key Laboratory of Robot and Intelligent Technology, Shandong University of Science and Technology, Qingdao, Shandong 266510, P. R. China
| | - 铭 常
- 山东科技大学 山东省机器人与智能技术重点实验室(山东青岛 266510)Shandong Key Laboratory of Robot and Intelligent Technology, Shandong University of Science and Technology, Qingdao, Shandong 266510, P. R. China
| | - 阳 宋
- 山东科技大学 山东省机器人与智能技术重点实验室(山东青岛 266510)Shandong Key Laboratory of Robot and Intelligent Technology, Shandong University of Science and Technology, Qingdao, Shandong 266510, P. R. China
| | - 福喆 马
- 山东科技大学 山东省机器人与智能技术重点实验室(山东青岛 266510)Shandong Key Laboratory of Robot and Intelligent Technology, Shandong University of Science and Technology, Qingdao, Shandong 266510, P. R. China
| | - 瑞托 槐
- 山东科技大学 山东省机器人与智能技术重点实验室(山东青岛 266510)Shandong Key Laboratory of Robot and Intelligent Technology, Shandong University of Science and Technology, Qingdao, Shandong 266510, P. R. China
| | - 俊卿 杨
- 山东科技大学 山东省机器人与智能技术重点实验室(山东青岛 266510)Shandong Key Laboratory of Robot and Intelligent Technology, Shandong University of Science and Technology, Qingdao, Shandong 266510, P. R. China
| | - 辉 常
- 山东科技大学 山东省机器人与智能技术重点实验室(山东青岛 266510)Shandong Key Laboratory of Robot and Intelligent Technology, Shandong University of Science and Technology, Qingdao, Shandong 266510, P. R. China
| | - 峰 邵
- 山东科技大学 山东省机器人与智能技术重点实验室(山东青岛 266510)Shandong Key Laboratory of Robot and Intelligent Technology, Shandong University of Science and Technology, Qingdao, Shandong 266510, P. R. China
| | - 慧 汪
- 山东科技大学 山东省机器人与智能技术重点实验室(山东青岛 266510)Shandong Key Laboratory of Robot and Intelligent Technology, Shandong University of Science and Technology, Qingdao, Shandong 266510, P. R. China
| |
Collapse
|
3
|
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.
Collapse
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
| |
Collapse
|
4
|
Cybernetic Hive Minds: A Review. AI 2022. [DOI: 10.3390/ai3020027] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022] Open
Abstract
Insect swarms and migratory birds are known to exhibit something known as a hive mind, collective consciousness, and herd mentality, among others. This has inspired a whole new stream of robotics known as swarm intelligence, where small-sized robots perform tasks in coordination. The social media and smartphone revolution have helped people collectively work together and organize in their day-to-day jobs or activism. This revolution has also led to the massive spread of disinformation amplified during the COVID-19 pandemic by alt-right Neo Nazi Cults like QAnon and their counterparts from across the globe, causing increases in the spread of infection and deaths. This paper presents the case for a theoretical cybernetic hive mind to explain how existing cults like QAnon weaponize group think and carry out crimes using social media-based alternate reality games. We also showcase a framework on how cybernetic hive minds have come into existence and how the hive mind might evolve in the future. We also discuss the implications of these hive minds for the future of free will and how different malfeasant entities have utilized these technologies to cause problems and inflict harm by various forms of cyber-crimes and predict how these crimes can evolve in the future.
Collapse
|
5
|
Cyborg Moth Flight Control Based on Fuzzy Deep Learning. MICROMACHINES 2022; 13:mi13040611. [PMID: 35457916 PMCID: PMC9030641 DOI: 10.3390/mi13040611] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/14/2022] [Revised: 04/10/2022] [Accepted: 04/11/2022] [Indexed: 11/16/2022]
Abstract
Cyborg insect control methods can be divided into invasive methods and noninvasive methods. Compared to invasive methods, noninvasive methods are much easier to implement, but they are sensitive to complex and highly uncertain environments, for which classical control methods often have low control accuracy. In this paper, we present a noninvasive approach for cyborg moths stimulated by noninvasive ultraviolet (UV) rays. We propose a fuzzy deep learning method for cyborg moth flight control, which consists of a Behavior Learner and a Control Learner. The Behavior Learner is further divided into three hierarchies for learning the species’ common behaviors, group-specific behaviors, and individual-specific behaviors step by step to produce the expected flight parameters. The Control Learner learns how to set UV ray stimulation to make a moth exhibit the expected flight behaviors. Both the Control Learner and Behavior Learner (including its sub-learners) are constructed using a Pythagorean fuzzy denoising autoencoder model. Experimental results demonstrate that the proposed approach achieves significant performance advantages over the state-of-the-art approaches and obtains a high control success rate of over 83% for flight parameter control.
Collapse
|
6
|
Fang K, Mei H, Song Y, Wang Z, Dai Z. 动物机器人:研究基础、关键技术及发展预测. CHINESE SCIENCE BULLETIN-CHINESE 2022. [DOI: 10.1360/tb-2021-1314] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
|
7
|
Li M, Pal A, Aghakhani A, Pena-Francesch A, Sitti M. Soft actuators for real-world applications. NATURE REVIEWS. MATERIALS 2022; 7:235-249. [PMID: 35474944 PMCID: PMC7612659 DOI: 10.1038/s41578-021-00389-7] [Citation(s) in RCA: 160] [Impact Index Per Article: 80.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Accepted: 09/21/2021] [Indexed: 05/22/2023]
Abstract
Inspired by physically adaptive, agile, reconfigurable and multifunctional soft-bodied animals and human muscles, soft actuators have been developed for a variety of applications, including soft grippers, artificial muscles, wearables, haptic devices and medical devices. However, the complex performance of biological systems cannot yet be fully replicated in synthetic designs. In this Review, we discuss new materials and structural designs for the engineering of soft actuators with physical intelligence and advanced properties, such as adaptability, multimodal locomotion, self-healing and multi-responsiveness. We examine how performance can be improved and multifunctionality implemented by using programmable soft materials, and highlight important real-world applications of soft actuators. Finally, we discuss the challenges and opportunities for next-generation soft actuators, including physical intelligence, adaptability, manufacturing scalability and reproducibility, extended lifetime and end-of-life strategies.
Collapse
Affiliation(s)
- Meng Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Aniket Pal
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Amirreza Aghakhani
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
| | - Abdon Pena-Francesch
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Department of Materials Science and Engineering, Macromolecular Science and Engineering, Robotics Institute, University of Michigan, Ann Arbor, MI, USA
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zurich, Zurich, Switzerland
- School of Medicine and College of Engineering, Koç University, Istanbul, Turkey
| |
Collapse
|
8
|
Ma S, Liu P, Liu S, Li Y, Li B. Launching of a Cyborg Locust via Co-Contraction Control of Hindleg Muscles. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2022.3152102] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
|
9
|
Ding H, Zhao J, Yan S. Behavioral control and changes in brain activity of honeybee during flapping. Brain Behav 2021; 11:e2426. [PMID: 34807528 PMCID: PMC8671781 DOI: 10.1002/brb3.2426] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 04/27/2021] [Revised: 09/08/2021] [Accepted: 10/27/2021] [Indexed: 11/11/2022] Open
Abstract
INTRODUCTION Insect cyborg is a kind of novel robot based on insect-machine interface and principles of neurobiology. The key idea is to stimulate live insects by specific stimuli; thus, the flight trajectory of insects could be controlled as anticipated. However, the neuroregulatory mechanism of insect flight has not been elucidated completely at present. METHODS To explore the neuro-mechanism of insect flight behaviors, a series of electrical stimulation was applied on the optic lobes of semi-constrained honeybees. Times of flight initiation, flapping frequency, and duration were recorded by a high-speed camera. In addition, flapping and steering initiation experiments of the cyborg honeybee were verified. Moreover, series of local field potential signals of optic lobes during flapping were collected, pre-processed to remove baseline wander and DC components, then analyzed by power spectrum estimation. RESULTS A quantitative optimization method and optimal stimulation parameters of flight initiation were presented. Stimulation results showed that the flapping duration differed greatly while the flapping frequency varied with little difference among different individuals. Moreover, there was always a fluctuation peak around 20-30 Hz in power spectral density (PSD) curves during flapping, distinguishing from calm state, which indicated some brain activity changes during flapping. CONCLUSIONS Our study presented a range of relatively optimal electrical parameters to initiate honeybee flight behavior. Meanwhile, the regularity of flapping duration and flapping frequency under electrical stimulations with different parameters were given. The feasibility of controlling a honeybee's flight behavior by brain electrical stimulation was verified through the flapping and steering initiation experiment of honeybees under semi-constrained state. PSD fluctuations reflected changes in brain activity during flapping and that those fluctuation characteristics at the specific frequency band could be sensitive determinants to distinguish whether the honeybee was flying or not, which benefits our understanding of honeybee's flapping behavior and furthers the study of honeybee cyborgs.
Collapse
Affiliation(s)
- Haojia Ding
- Division of Intelligent and Biomechanical Systems, State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, China
| | - Jieliang Zhao
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China
| | - Shaoze Yan
- Division of Intelligent and Biomechanical Systems, State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, China
| |
Collapse
|
10
|
Xu NW, Townsend JP, Costello JH, Colin SP, Gemmell BJ, Dabiri JO. Developing Biohybrid Robotic Jellyfish ( Aurelia aurita) for Free-swimming Tests in the Laboratory and in the Field. Bio Protoc 2021; 11:e3974. [PMID: 33889668 PMCID: PMC8054175 DOI: 10.21769/bioprotoc.3974] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/19/2020] [Revised: 01/28/2021] [Accepted: 01/31/2021] [Indexed: 11/02/2022] Open
Abstract
Biohybrid robotics is a growing field that incorporates both live tissues and engineered materials to build robots that address current limitations in robots, including high power consumption and low damage tolerance. One approach is to use microelectronics to enhance whole organisms, which has previously been achieved to control the locomotion of insects. However, the robotic control of jellyfish swimming offers additional advantages, with the potential to become a new ocean monitoring tool in conjunction with existing technologies. Here, we delineate protocols to build a self-contained swim controller using commercially available microelectronics, embed the device into live jellyfish, and calculate vertical swimming speeds in both laboratory conditions and coastal waters. Using these methods, we previously demonstrated enhanced swimming speeds up to threefold, compared to natural jellyfish swimming, in laboratory and in situ experiments. These results offered insights into both designing low-power robots and probing the structure-function of basal organisms. Future iterations of these biohybrid robotic jellyfish could be used for practical applications in ocean monitoring.
Collapse
Affiliation(s)
- Nicole W. Xu
- Department of Bioengineering, Stanford University, Stanford, CA, USA
- Graduate Aerospace Laboratories (GALCIT), California Institute of Technology, Pasadena, CA, USA
| | - James P. Townsend
- Marine Biological Laboratory, Woods Hole, MA, USA
- Department of Biology, Providence College, Providence, RI, USA
| | - John H. Costello
- Marine Biological Laboratory, Woods Hole, MA, USA
- Department of Biology, Providence College, Providence, RI, USA
| | - Sean P. Colin
- Marine Biological Laboratory, Woods Hole, MA, USA
- Department of Marine Biology and Environmental Science, Roger Williams University, Bristol, RI, USA
| | - Brad J. Gemmell
- Department of Integrative Biology, University of South Florida, Tampa, FL, USA
| | - John O. Dabiri
- Graduate Aerospace Laboratories (GALCIT), California Institute of Technology, Pasadena, CA, USA
- Department of Mechanical Engineering, California Institute of Technology, Pasadena, CA, USA
| |
Collapse
|
11
|
Kosaka T, Gan JH, Long LD, Umezu S, Sato H. Remote radio control of insect flight reveals why beetles lift their legs in flight while other insects tightly fold. BIOINSPIRATION & BIOMIMETICS 2021; 16:036001. [PMID: 33513597 DOI: 10.1088/1748-3190/abe138] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/02/2020] [Accepted: 01/29/2021] [Indexed: 06/12/2023]
Abstract
In the research and development of micro air vehicles, understanding and imitating the flight mechanism of insects presents a viable way of progressing forward. While research is being conducted on the flight mechanism of insects such as flies and dragonflies, research on beetles that can carry larger loads is limited. Here, we clarified the beetle midlegs' role in the attenuation and cessation of the wingbeat. We anatomically confirmed the connection between the midlegs and the elytra. We also further clarified which pair of legs are involved in the wingbeat attenuation mechanism, and lastly demonstrated free-flight control via remote leg muscle stimulation. Observation of multiple landings using a high-speed camera revealed that the wingbeat stopped immediately after their midlegs were lowered. Moreover, the action of lowering the midleg attenuated and often stopped the wingbeat. A miniature remote stimulation device (backpack) mountable on beetles was designed and utilized for the free-flight demonstration. Beetles in free flight were remotely induced into lowering (swing down) each leg pair via electrical stimulation, and they were found to lose significant altitude only when the midlegs were stimulated. Thus, the results of this study revealed that swinging down of the midlegs played a significant role in beetle wingbeat cessation. In the future, our findings on the wingbeat attenuation and cessation mechanism are expected to be helpful in designing bioinspired micro air vehicles.
Collapse
Affiliation(s)
- Takumi Kosaka
- Department of Modern Mechanical Engineering, Waseda University, Japan
| | - Jia Hui Gan
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
| | - Le Duc Long
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
| | - Shinjiro Umezu
- Department of Modern Mechanical Engineering, Waseda University, Japan
| | - Hirotaka Sato
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
| |
Collapse
|
12
|
Webster-Wood VA, Akkus O, Gurkan UA, Chiel HJ, Quinn RD. Organismal Engineering: Towards a Robotic Taxonomic Key for Devices Using Organic Materials. Sci Robot 2021; 2. [PMID: 31360812 DOI: 10.1126/scirobotics.aap9281] [Citation(s) in RCA: 39] [Impact Index Per Article: 13.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/20/2022]
Abstract
Can we create robots with the behavioral flexibility and robustness of animals? Engineers often use bio-inspiration to mimic animals. Recent advances in tissue engineering now allow the use of components from animals. By integrating organic and synthetic components, researchers are moving towards the development of engineered organisms whose structural framework, actuation, sensing, and control are partially or completely organic. This review discusses recent exciting work demonstrating how organic components can be used for all facets of robot development. Based on this analysis, we propose a Robotic Taxonomic Key to guide the field towards a unified lexicon for device description.
Collapse
Affiliation(s)
| | - Ozan Akkus
- Dept. of Mech. and Aero. Engineering, Case Western Reserve University, Cleveland, OH, USA.,Dept. of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, USA.,Dept. of Orthopaedics, Case Western Reserve University, Cleveland, OH, USA
| | - Umut A Gurkan
- Dept. of Mech. and Aero. Engineering, Case Western Reserve University, Cleveland, OH, USA.,Dept. of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, USA.,Dept. of Orthopaedics, Case Western Reserve University, Cleveland, OH, USA
| | - Hillel J Chiel
- Dept. of Biology, Case Western Reserve University, Cleveland, OH, USA.,Dept. of Neurosciences, Case Western Reserve University, Cleveland, OH, USA.,Dept. of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, USA
| | - Roger D Quinn
- Dept. of Mech. and Aero. Engineering, Case Western Reserve University, Cleveland, OH, USA
| |
Collapse
|
13
|
Ando N, Kanzaki R. Insect-machine hybrid robot. CURRENT OPINION IN INSECT SCIENCE 2020; 42:61-69. [PMID: 32992040 DOI: 10.1016/j.cois.2020.09.006] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/05/2020] [Revised: 09/12/2020] [Accepted: 09/16/2020] [Indexed: 06/11/2023]
Abstract
Recently, insect-machine hybrid robots have been developed that incorporate insects into robots or incorporate machines into insects. Most previous studies were motivated to use the function of insects for robots, but this technology can also prove to be useful as an experimental tool for neuroethology. We reviewed hybrid robots in terms of the closed-loop between an insect, a robot, and the real environment. The incorporated biological components provided the robot sensory signals that were received by the insects and the adaptive functions of the brain. The incorporated artificial components permitted us to understand the biological system by controlling insect behavior. Hybrid robots thus extend the roles of mobile robot experiments in neuroethology for both model evaluation and brain function analysis.
Collapse
Affiliation(s)
- Noriyasu Ando
- Department of Systems Life Engineering, Maebashi Institute of Technology, 460-1, Kamisadori-cho, Maebashi, Gunma 371-0816, Japan.
| | - Ryohei Kanzaki
- Research Center for Advanced Science and Technology, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8904, Japan
| |
Collapse
|
14
|
Appiah C, Arndt C, Siemsen K, Heitmann A, Staubitz A, Selhuber-Unkel C. Living Materials Herald a New Era in Soft Robotics. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2019; 31:e1807747. [PMID: 31267628 DOI: 10.1002/adma.201807747] [Citation(s) in RCA: 50] [Impact Index Per Article: 10.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/30/2018] [Revised: 03/07/2019] [Indexed: 05/22/2023]
Abstract
Living beings have an unsurpassed range of ways to manipulate objects and interact with them. They can make autonomous decisions and can heal themselves. So far, a conventional robot cannot mimic this complexity even remotely. Classical robots are often used to help with lifting and gripping and thus to alleviate the effects of menial tasks. Sensors can render robots responsive, and artificial intelligence aims at enabling autonomous responses. Inanimate soft robots are a step in this direction, but it will only be in combination with living systems that full complexity will be achievable. The field of biohybrid soft robotics provides entirely new concepts to address current challenges, for example the ability to self-heal, enable a soft touch, or to show situational versatility. Therefore, "living materials" are at the heart of this review. Similarly to biological taxonomy, there is a recent effort for taxonomy of biohybrid soft robotics. Here, an expansion is proposed to take into account not only function and origin of biohybrid soft robotic components, but also the materials. This materials taxonomy key demonstrates visually that materials science will drive the development of the field of soft biohybrid robotics.
Collapse
Affiliation(s)
- Clement Appiah
- Institute for Organic and Analytical Chemistry, University of Bremen, Leobener Str. 7, D-28359, Bremen, Germany
- MAPEX Center for Materials and Processes, University of Bremen, Bibliothekstraße 1, D-28359, Bremen, Germany
| | - Christine Arndt
- Institute for Materials Science, University of Kiel, Kaiserstr. 2, D-24143, Kiel, Germany
| | - Katharina Siemsen
- Institute for Materials Science, University of Kiel, Kaiserstr. 2, D-24143, Kiel, Germany
| | - Anne Heitmann
- Institute for Organic and Analytical Chemistry, University of Bremen, Leobener Str. 7, D-28359, Bremen, Germany
- MAPEX Center for Materials and Processes, University of Bremen, Bibliothekstraße 1, D-28359, Bremen, Germany
| | - Anne Staubitz
- Institute for Organic and Analytical Chemistry, University of Bremen, Leobener Str. 7, D-28359, Bremen, Germany
- MAPEX Center for Materials and Processes, University of Bremen, Bibliothekstraße 1, D-28359, Bremen, Germany
- Otto-Diels-Institute for Organic Chemistry, University of Kiel, Otto-Hahn-Platz 4, D-24118, Kiel, Germany
| | | |
Collapse
|
15
|
Cao F, Sato H. Insect–Computer Hybrid Robot Achieves a Walking Gait Rarely Seen in Nature by Replacing the Anisotropic Natural Leg Spines With Isotropic Artificial Leg Spines. IEEE T ROBOT 2019. [DOI: 10.1109/tro.2019.2903416] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
|
16
|
Romano D, Donati E, Benelli G, Stefanini C. A review on animal-robot interaction: from bio-hybrid organisms to mixed societies. BIOLOGICAL CYBERNETICS 2019; 113:201-225. [PMID: 30430234 DOI: 10.1007/s00422-018-0787-5] [Citation(s) in RCA: 76] [Impact Index Per Article: 15.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/25/2017] [Accepted: 10/19/2018] [Indexed: 05/28/2023]
Abstract
Living organisms are far superior to state-of-the-art robots as they have evolved a wide number of capabilities that far encompass our most advanced technologies. The merging of biological and artificial world, both physically and cognitively, represents a new trend in robotics that provides promising prospects to revolutionize the paradigms of conventional bio-inspired design as well as biological research. In this review, a comprehensive definition of animal-robot interactive technologies is given. They can be at animal level, by augmenting physical or mental capabilities through an integrated technology, or at group level, in which real animals interact with robotic conspecifics. Furthermore, an overview of the current state of the art and the recent trends in this novel context is provided. Bio-hybrid organisms represent a promising research area allowing us to understand how a biological apparatus (e.g. muscular and/or neural) works, thanks to the interaction with the integrated technologies. Furthermore, by using artificial agents, it is possible to shed light on social behaviours characterizing mixed societies. The robots can be used to manipulate groups of living organisms to understand self-organization and the evolution of cooperative behaviour and communication.
Collapse
Affiliation(s)
- Donato Romano
- The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy.
| | - Elisa Donati
- The Institute of Neuroinformatics, University of Zurich/ETH, Winterthurerstrasse 190, 8057, Zurich, Switzerland
| | - Giovanni Benelli
- The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy
- Department of Agriculture, Food and Environment, University of Pisa, Via del Borghetto 80, 56124, Pisa, Italy
| | - Cesare Stefanini
- The BioRobotics Institute, Sant'Anna School of Advanced Studies, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy
- HEIC Center, BME Department, Khalifa University, PO Box 127788, Abu Dhabi, UAE
| |
Collapse
|
17
|
Le DL, Tnee CK, Vo Doan TT, Arai S, Suzuki M, Sou K, Sato H. Neurotransmitter-Loaded Nanocapsule Triggers On-Demand Muscle Relaxation in Living Organism. ACS APPLIED MATERIALS & INTERFACES 2018; 10:37812-37819. [PMID: 30372017 DOI: 10.1021/acsami.8b11079] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/08/2023]
Abstract
This paper reports the on-demand artificial muscle relaxation using a thermosensitive liposome encapsulating γ-aminobutyric acid (GABA) inhibitory neurotransmitter. Muscle relaxation is not feasible in principle, although muscle contraction can be easily induced by electrical stimulation. Herein, thermosensitive liposomes (phase transition temperature = 40 °C) were synthesized to encapsulate GABA and were injected into a leg of a living beetle. The leg was wrapped around by a Ni-Cr wire heater integrated with a thermocouple to enable the feedback control and to manipulate the leg temperature. The injected leg was temporarily immobilized by heating it up to 45 °C. The leg did not swing even by electrically stimulating the leg muscle. Subsequently, the leg recovered to swing. The result indicates that GABA was released from liposomes and fed to the leg muscle, enabling temporal muscle relaxation.
Collapse
Affiliation(s)
- Duc Long Le
- School of Mechanical & Aerospace Engineering , Nanyang Technological University 50 Nanyang Avenue , 639798 , Singapore
| | - Chin Kiat Tnee
- School of Mechanical & Aerospace Engineering , Nanyang Technological University 50 Nanyang Avenue , 639798 , Singapore
| | - T Thang Vo Doan
- School of Mechanical & Aerospace Engineering , Nanyang Technological University 50 Nanyang Avenue , 639798 , Singapore
| | - Satoshi Arai
- Research Institute for Science and Engineering , Waseda University , 3-4-1 Ohkubo , Shinjuku, Tokyo 169-8555 , Japan
- PRIME, Japan Agency for Medical Research and Development , Tokyo 100-0004 , Japan
| | - Madoka Suzuki
- Research Institute for Science and Engineering , Waseda University , 3-4-1 Ohkubo , Shinjuku, Tokyo 169-8555 , Japan
- PRESTO, Japan Science and Technology Agency , 4-1-8 Honcho , Kawaguchi, Saitama 332-0012 , Japan
- Institute for Protein Research , Osaka University , 3-2 Yamadaoka , Suita, Osaka 565-0871 , Japan
| | - Keitaro Sou
- Waseda Bioscience Research Institute in Singapore (WABIOS) , 11 Biopolis Way , 138667 , Singapore
- Organization for University Research Initiatives , Waseda University , 513 Waseda Tsurumaki-cho , Shinjuku, Tokyo 162-0041 , Japan
| | - Hirotaka Sato
- School of Mechanical & Aerospace Engineering , Nanyang Technological University 50 Nanyang Avenue , 639798 , Singapore
| |
Collapse
|
18
|
Abstract
An insect–computer hybrid robot, often referred to as a biological machine or an insect cyborg, is the fusion of a living insect platform and artificial microdevices, including stimulators, sensors, and computers. When compared with the artificial robots, a hybrid robot can be operated as an autonomous mobile machine with low energy consumption and hardware costs. A hybrid machine can verify various biological hypotheses, such as function determination, by stimulating a muscle or any other structure.
Collapse
Affiliation(s)
- Yao Li
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore
| | - Hirotaka Sato
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore
| |
Collapse
|
19
|
Abstract
In this study, we describe the most ultralightweight living legged robot to date that makes it a strong candidate for a search and rescue mission. The robot is a living beetle with a wireless electronic backpack stimulator mounted on its thorax. Inheriting from the living insect, the robot employs a compliant body made of soft actuators, rigid exoskeletons, and flexure hinges. Such structure would allow the robot to easily adapt to any complex terrain due to the benefit of soft interface, self-balance, and self-adaptation of the insect without any complex controller. The antenna stimulation enables the robot to perform not only left/right turning but also backward walking and even cessation of walking. We were also able to grade the turning and backward walking speeds by changing the stimulation frequency. The power required to drive the robot is low as the power consumption of the antenna stimulation is in the order of hundreds of microwatts. In contrast to the traditional legged robots, this robot is of low cost, easy to construct, simple to control, and has ultralow power consumption.
Collapse
Affiliation(s)
- Tat Thang Vo Doan
- School of Mechanical and Aerospace Engineering, Nanyang Technological University , Singapore, Singapore
| | - Melvin Y W Tan
- School of Mechanical and Aerospace Engineering, Nanyang Technological University , Singapore, Singapore
| | - Xuan Hien Bui
- School of Mechanical and Aerospace Engineering, Nanyang Technological University , Singapore, Singapore
| | - Hirotaka Sato
- School of Mechanical and Aerospace Engineering, Nanyang Technological University , Singapore, Singapore
| |
Collapse
|
20
|
Ando N, Kanzaki R. Using insects to drive mobile robots - hybrid robots bridge the gap between biological and artificial systems. ARTHROPOD STRUCTURE & DEVELOPMENT 2017; 46:723-735. [PMID: 28254451 DOI: 10.1016/j.asd.2017.02.003] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/31/2016] [Revised: 02/21/2017] [Accepted: 02/21/2017] [Indexed: 06/06/2023]
Abstract
The use of mobile robots is an effective method of validating sensory-motor models of animals in a real environment. The well-identified insect sensory-motor systems have been the major targets for modeling. Furthermore, mobile robots implemented with such insect models attract engineers who aim to avail advantages from organisms. However, directly comparing the robots with real insects is still difficult, even if we successfully model the biological systems, because of the physical differences between them. We developed a hybrid robot to bridge the gap. This hybrid robot is an insect-controlled robot, in which a tethered male silkmoth (Bombyx mori) drives the robot in order to localize an odor source. This robot has the following three advantages: 1) from a biomimetic perspective, the robot enables us to evaluate the potential performance of future insect-mimetic robots; 2) from a biological perspective, the robot enables us to manipulate the closed-loop of an onboard insect for further understanding of its sensory-motor system; and 3) the robot enables comparison with insect models as a reference biological system. In this paper, we review the recent works regarding insect-controlled robots and discuss the significance for both engineering and biology.
Collapse
Affiliation(s)
- Noriyasu Ando
- Research Center for Advanced Science and Technology, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8904, Japan.
| | - Ryohei Kanzaki
- Research Center for Advanced Science and Technology, The University of Tokyo, 4-6-1 Komaba, Meguro-ku, Tokyo 153-8904, Japan
| |
Collapse
|