1
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Holzberger F, Muhr M, Wohlmuth B. A comprehensive numerical approach to coil placement in cerebral aneurysms: mathematical modeling and in silico occlusion classification. Biomech Model Mechanobiol 2024:10.1007/s10237-024-01882-y. [PMID: 39162857 DOI: 10.1007/s10237-024-01882-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/05/2024] [Accepted: 07/25/2024] [Indexed: 08/21/2024]
Abstract
Endovascular coil embolization is one of the primary treatment techniques for cerebral aneurysms. Although it is a well-established and minimally invasive method, it bears the risk of suboptimal coil placement which can lead to incomplete occlusion of the aneurysm possibly causing recurrence. One of the key features of coils is that they have an imprinted natural shape supporting the fixation within the aneurysm. For the spatial discretization, our mathematical coil model is based on the discrete elastic rod model which results in a dimension-reduced 1D system of differential equations. We include bending and twisting responses to account for the coils natural curvature and allow for the placement of several coils having different material parameters. Collisions between coil segments and the aneurysm wall are handled by an efficient contact algorithm that relies on an octree based collision detection. In time, we use a standard symplectic semi-implicit Euler time stepping method. Our model can be easily incorporated into blood flow simulations of embolized aneurysms. In order to differentiate optimal from suboptimal placements, we employ a suitable in silico Raymond-Roy-type occlusion classification and measure the local packing density in the aneurysm at its neck, wall region and core. We investigate the impact of uncertainties in the coil parameters and embolization procedure. To this end, we vary the position and the angle of insertion of the micro-catheter, and approximate the local packing density distributions by evaluating sample statistics.
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Affiliation(s)
- Fabian Holzberger
- Department of Mathematics, Technical University of Munich, Boltzmannstr. 3/III, 85748, Garching b. München, Germany.
| | - Markus Muhr
- Department of Mathematics, Technical University of Munich, Boltzmannstr. 3/III, 85748, Garching b. München, Germany
| | - Barbara Wohlmuth
- Department of Mathematics, Technical University of Munich, Boltzmannstr. 3/III, 85748, Garching b. München, Germany
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2
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Halder U, Gribkova ED, Gillette R, Mehta PG. Passive elasticity properties of Octopus rubescens arms. J Exp Biol 2024; 227:jeb247175. [PMID: 38842008 DOI: 10.1242/jeb.247175] [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: 12/08/2023] [Accepted: 05/27/2024] [Indexed: 06/07/2024]
Abstract
In this report, passive elasticity properties of Octopus rubescens arm tissue are investigated using a multidisciplinary approach encompassing biomechanical experiments, computational modeling, and analyses. Tensile tests are conducted to obtain stress-strain relationships of the arm under axial stretch. Rheological tests are also performed to probe the dynamic shear response of the arm tissue. Based on these tests, comparisons against three different viscoelasticity models are reported.
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Affiliation(s)
- Udit Halder
- Coordinated Science Laboratory, University of Illinois Urbana-Champaign, IL, 61801, USA
| | - Ekaterina D Gribkova
- Coordinated Science Laboratory, University of Illinois Urbana-Champaign, IL, 61801, USA
- Neuroscience Program, University of Illinois Urbana-Champaign, IL, 61801, USA
| | - Rhanor Gillette
- Neuroscience Program, University of Illinois Urbana-Champaign, IL, 61801, USA
- Department of Molecular and Integrative Physiology, University of Illinois Urbana-Champaign, IL, 61801, USA
| | - Prashant G Mehta
- Coordinated Science Laboratory, University of Illinois Urbana-Champaign, IL, 61801, USA
- Department of Mechanical Science and Engineering, University of Illinois Urbana-Champaign, IL, 61801, USA
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3
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Kumar S, Tiwari I, Ortega-Jimenez VM, Dillman AR, He D, Hu Y, Bhamla MS. Reversible kink instability drives ultrafast jumping in nematodes and soft robots. BIORXIV : THE PREPRINT SERVER FOR BIOLOGY 2024:2024.06.07.598012. [PMID: 38915562 PMCID: PMC11195127 DOI: 10.1101/2024.06.07.598012] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/26/2024]
Abstract
Entomopathogenic nematodes (EPNs) exhibit a bending-elastic instability, or kink, before becoming airborne, a feature hypothesized but not proven to enhance jumping performance. Here, we provide the evidence that this kink is crucial for improving launch performance. We demonstrate that EPNs actively modulate their aspect ratio, forming a liquid-latched closed loop over a slow timescale O (1 s), then rapidly open it O (10 µs), achieving heights of 20 body lengths (BL) and generating ∼ 10 4 W/Kg of power. Using jumping nematodes, a bio-inspired Soft Jumping Model (SoftJM), and computational simulations, we explore the mechanisms and implications of this kink. EPNs control their takeoff direction by adjusting their head position and center of mass, a mechanism verified through phase maps of jump directions in simulations and SoftJM experiments. Our findings reveal that the reversible kink instability at the point of highest curvature on the ventral side enhances energy storage using the nematode's limited muscular force. We investigated the impact of aspect ratio on kink instability and jumping performance using SoftJM, and quantified EPN cuticle stiffness with AFM, comparing it with C. elegans . This led to a stiffness-modified SoftJM design with a carbon fiber backbone, achieving jumps of ∼25 BL. Our study reveals how harnessing kink instabilities, a typical failure mode, enables bidirectional jumps in soft robots on complex substrates like sand, offering a novel approach for designing limbless robots for controlled jumping, locomotion, and even planetary exploration.
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4
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Armanini C, Junge K, Johnson P, Whitfield C, Renda F, Calisti M, Hughes J. Soft robotics for farm to fork: applications in agriculture & farming. BIOINSPIRATION & BIOMIMETICS 2024; 19:021002. [PMID: 38250751 DOI: 10.1088/1748-3190/ad2084] [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: 06/17/2023] [Accepted: 01/19/2024] [Indexed: 01/23/2024]
Abstract
Agricultural tasks and environments range from harsh field conditions with semi-structured produce or animals, through to post-processing tasks in food-processing environments. From farm to fork, the development and application of soft robotics offers a plethora of potential uses. Robust yet compliant interactions between farm produce and machines will enable new capabilities and optimize existing processes. There is also an opportunity to explore how modeling tools used in soft robotics can be applied to improve our representation and understanding of the soft and compliant structures common in agriculture. In this review, we seek to highlight the potential for soft robotics technologies within the food system, and also the unique challenges that must be addressed when developing soft robotics systems for this problem domain. We conclude with an outlook on potential directions for meaningful and sustainable impact, and also how our outlook on both soft robotics and agriculture must evolve in order to achieve the required paradigm shift.
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Affiliation(s)
- Costanza Armanini
- Center for Artificial Intelligence and Robotics (CAIR), New York University Abu Dhabi, Abu Dhabi, United Arab Emirates
| | - Kai Junge
- CREATE Lab, Institute of Mechanical Engineering, EPFL, Lausanne, Switzerland
| | - Philip Johnson
- Lincoln Institute for Agri-Food Tech, University of Lincoln, Lincoln, United Kingdom
| | | | - Federico Renda
- Department of Mechanical Engineering, Khalifa University, Abu Dhabi, United Arab Emirates
| | - Marcello Calisti
- Lincoln Institute for Agri-Food Tech, University of Lincoln, Lincoln, United Kingdom
| | - Josie Hughes
- CREATE Lab, Institute of Mechanical Engineering, EPFL, Lausanne, Switzerland
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5
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Silva A, López-Navarrete G, García-Martos C, Muñoz-Guijosa JM. Automated resolution of the spiral torsion spring inverse design problem. Sci Rep 2024; 14:2956. [PMID: 38316845 PMCID: PMC10844218 DOI: 10.1038/s41598-024-53404-6] [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: 11/07/2023] [Accepted: 01/31/2024] [Indexed: 02/07/2024] Open
Abstract
Many mechanical applications take advantage of spiral torsion springs due to their robustness, compactness, and simplicity. Brand-new manufacturing methods allow to create spiral springs with unconventional geometries and materials that suit a wider range of uses demanding either linearity or nonlinearity. Designing a spiral torsion spring with a nonlinear desired torque curve may be a great challenge, due to their many degrees-of-freedom (length, width, thickness, arbor, and barrel diameters, etc.) and the complexity of the geometrical and mechanical requirements to ensure their manufacturability, system compatibility, operation safety and reliability; and the solution is never unique. This manuscript proposes and validates an innovative methodology for the resolution of this inverse design problem based on the application of a nonlinear restrained global optimization algorithm. This algorithm is adjusted to converge, out of the infinity of designs that match the desired torque curve and hold all the functional and manufacturing constraints, to a design solution that minimizes strip mass. The methodology is built on a formulation for the calculation of the torque curve of a generalized spiral spring, with or without coiling and with any along-the-length cross-section, already published by the authors.
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Affiliation(s)
- Alejandro Silva
- Department of Applied Mathematics, Escuela Técnica Superior de Ingenieros Industriales, Universidad Politécnica de Madrid, Calle de José Gutiérrez Abascal 2, 28006, Madrid, Spain
| | - Gonzalo López-Navarrete
- Department of Mechanical Engineering, Escuela Técnica Superior de Ingenieros Industriales, Universidad Politécnica de Madrid, Calle de José Gutiérrez Abascal 2, 28006, Madrid, Spain
| | - Carlos García-Martos
- Department of Mechanical Engineering, Escuela Técnica Superior de Ingenieros Industriales, Universidad Politécnica de Madrid, Calle de José Gutiérrez Abascal 2, 28006, Madrid, Spain
| | - Juan Manuel Muñoz-Guijosa
- Department of Mechanical Engineering, Escuela Técnica Superior de Ingenieros Industriales, Universidad Politécnica de Madrid, Calle de José Gutiérrez Abascal 2, 28006, Madrid, Spain.
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6
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Saintyves B, Spenko M, Jaeger HM. A self-organizing robotic aggregate using solid and liquid-like collective states. Sci Robot 2024; 9:eadh4130. [PMID: 38266100 DOI: 10.1126/scirobotics.adh4130] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/24/2023] [Accepted: 12/19/2023] [Indexed: 01/26/2024]
Abstract
Designing robotic systems that can change their physical form factor as well as their compliance to adapt to environmental constraints remains a major conceptual and technical challenge. To address this, we introduce the Granulobot, a modular system that blurs the distinction between soft, modular, and swarm robotics. The system consists of gear-like units that each contain a single actuator such that units can self-assemble into larger, granular aggregates using magnetic coupling. These aggregates can reconfigure dynamically and also split into subsystems that might later recombine. Aggregates can self-organize into collective states with solid- and liquid-like properties, thus displaying widely differing compliance. These states can be perturbed locally via actuators or externally via mechanical feedback from the environment to produce adaptive shape-shifting in a decentralized manner. This, in turn, can generate locomotion strategies adapted to different conditions. Aggregates can move over obstacles without using external sensors or coordinates to maintain a steady gait over different surfaces without electronic communication among units. The modular design highlights a physical, morphological form of control that advances the development of resilient robotic systems with the ability to morph and adapt to different functions and conditions.
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Affiliation(s)
| | - Matthew Spenko
- Mechanical, Materials, and Aerospace Engineering, Illinois Institute of Technology, Chicago, IL 60616, USA
| | - Heinrich M Jaeger
- James Franck Institute, University of Chicago, Chicago, IL 60637, USA
- Department of Physics, University of Chicago, Chicago, IL 60637, USA
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7
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Surówka P, Souslov A, Jülicher F, Banerjee D. Odd Cosserat elasticity in active materials. Phys Rev E 2023; 108:064609. [PMID: 38243431 DOI: 10.1103/physreve.108.064609] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/06/2022] [Accepted: 11/16/2023] [Indexed: 01/21/2024]
Abstract
Stress-strain constitutive relations in solids with an internal angular degree of freedom can be modeled using Cosserat (also called micropolar) elasticity. In this paper, we explore Cosserat materials that include chiral active components and hence odd elasticity. We calculate static elastic properties and show that the static response to rotational stresses leads to strains that depend on both Cosserat and odd elasticity. We compute the dispersion relations in odd Cosserat materials in the overdamped regime and find the presence of exceptional points. These exceptional points create a sharp boundary between a Cosserat-dominated regime of complete wave attenuation and an odd-elasticity-dominated regime of propagating waves. We conclude by showing the effect of Cosserat and odd-elasticity terms on the polarization of Rayleigh surface waves.
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Affiliation(s)
- Piotr Surówka
- Institute of Theoretical Physics, Wrocław University of Science and Technology, 50-370 Wrocław, Poland
- Max Planck Institute for the Physics of Complex Systems, Nöthnitzer Straße 38, 01187 Dresden, Germany
- Würzburg-Dresden Cluster of Excellence ct.qmat, 01187 Dresden, Germany
| | - Anton Souslov
- Department of Physics, University of Bath, Claverton Down, Bath BA2 7AY, United Kingdom
| | - Frank Jülicher
- Max Planck Institute for the Physics of Complex Systems, Nöthnitzer Straße 38, 01187 Dresden, Germany
- Cluster of Excellence Physics of Life, TU Dresden, 01062 Dresden, Germany
| | - Debarghya Banerjee
- Max Planck Institute for the Physics of Complex Systems, Nöthnitzer Straße 38, 01187 Dresden, Germany
- Institute for Theoretical Physics, University of Göttingen, Friedrich-Hund-Platz 1, 37077 Göttingen, Germany
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8
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Sadati S, Naghibi SE, da Cruz L, Bergeles C. Reduced order modeling and model order reduction for continuum manipulators: an overview. Front Robot AI 2023; 10:1094114. [PMID: 37779576 PMCID: PMC10540691 DOI: 10.3389/frobt.2023.1094114] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/09/2022] [Accepted: 05/22/2023] [Indexed: 10/03/2023] Open
Abstract
Soft robot's natural dynamics calls for the development of tailored modeling techniques for control. However, the high-dimensional configuration space of the geometrically exact modeling approaches for soft robots, i.e., Cosserat rod and Finite Element Methods (FEM), has been identified as a key obstacle in controller design. To address this challenge, Reduced Order Modeling (ROM), i.e., the approximation of the full-order models, and Model Order Reduction (MOR), i.e., reducing the state space dimension of a high fidelity FEM-based model, are enjoying extensive research. Although both techniques serve a similar purpose and their terms have been used interchangeably in the literature, they are different in their assumptions and implementation. This review paper provides the first in-depth survey of ROM and MOR techniques in the continuum and soft robotics landscape to aid Soft Robotics researchers in selecting computationally efficient models for their specific tasks.
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Affiliation(s)
- S.M.H. Sadati
- Robotics and Vision in Medicine (RViM) Lab, School of Biomedical Engineering and Imaging Sciences, King’s College London, London, United kingdom
| | - S. Elnaz Naghibi
- Department of Aeronautics, Faculty of Engineering, Imperial College London, London, England, United kingdom
| | - Lyndon da Cruz
- Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, London, England, United kingdom
- Moorfields Eye Hospital, London, United kingdom
| | - Christos Bergeles
- Robotics and Vision in Medicine (RViM) Lab, School of Biomedical Engineering and Imaging Sciences, King’s College London, London, United kingdom
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9
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Radisson B, Kanso E. Elastic Snap-Through Instabilities Are Governed by Geometric Symmetries. PHYSICAL REVIEW LETTERS 2023; 130:236102. [PMID: 37354412 DOI: 10.1103/physrevlett.130.236102] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/31/2022] [Revised: 12/24/2022] [Accepted: 04/13/2023] [Indexed: 06/26/2023]
Abstract
Many elastic structures exhibit rapid shape transitions between two possible equilibrium states: umbrellas become inverted in strong wind and hopper popper toys jump when turned inside out. This snap through is a general motif for the storage and rapid release of elastic energy, and it is exploited by many biological and engineered systems from the Venus flytrap to mechanical metamaterials. Shape transitions are known to be related to the type of bifurcation the system undergoes, however, to date, there is no general understanding of the mechanisms that select these bifurcations. Here we analyze numerically and analytically two systems proposed in recent literature in which an elastic strip, initially in a buckled state, is driven through shape transitions by either rotating or translating its boundaries. We show that the two systems are mathematically equivalent, and identify three cases that illustrate the entire range of transitions described by previous authors. Importantly, using reduction order methods, we establish the nature of the underlying bifurcations and explain how these bifurcations can be predicted from geometric symmetries and symmetry-breaking mechanisms, thus providing universal design rules for elastic shape transitions.
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Affiliation(s)
- Basile Radisson
- Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, California 90089-1191, USA
| | - Eva Kanso
- Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, California 90089-1191, USA
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10
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Radisson B, Kanso E. Dynamic behavior of elastic strips near shape transitions. Phys Rev E 2023; 107:065001. [PMID: 37464591 DOI: 10.1103/physreve.107.065001] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/24/2022] [Accepted: 04/13/2023] [Indexed: 07/20/2023]
Abstract
Elastic strips provide a general motif for studying shape transitions. When actuated through rotation of its boundaries, a buckled strip exhibits, depending on the direction of rotation, three types of shape transitions: buckling, algebraic snap-through, or exponential snap-through. The transition dynamics is linked to the character of the bifurcation, which, in turn, is disclosed by the normal form of the system, but deriving normal forms is challenging. Recent work has used asymptotic methods to obtain this form for algebraic snap-through, but, to date, there is no methodology for extending this analysis to other transitions. Here we introduce a method to analyze the dynamic characteristics of an elastic strip near a transition and extend, in a straightforward manner, the previously proposed asymptotic analysis to exponential snap-through and buckling transitions. Importantly, we show that these normal forms dictate all the dynamic characteristics of the elastic strip near a shape transition. Our analysis provides reliable tools to diagnose and anticipate elastic shape transitions.
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Affiliation(s)
- Basile Radisson
- Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, California 90089-1191, USA
| | - Eva Kanso
- Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, California 90089-1191, USA
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11
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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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12
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Chang HS, Halder U, Shih CH, Naughton N, Gazzola M, Mehta PG. Energy-shaping control of a muscular octopus arm moving in three dimensions. Proc Math Phys Eng Sci 2023. [DOI: 10.1098/rspa.2022.0593] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/04/2023] Open
Abstract
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems continue to attract the attention of biologists and roboticists alike. In this article, we develop a three-dimensional model of a soft octopus arm, equipped with biomechanically realistic muscle actuation. Internal forces and couples exerted by all major muscle groups are considered. An energy-shaping control method is described to coordinate muscle activity so as to grasp and reach in three-dimensional space. Key contributions of this article are as follows: (i) modelling of major muscle groups to elicit three-dimensional movements; (ii) a mathematical formulation for muscle activations based on a stored energy function; and (iii) a computationally efficient procedure to design task-specific equilibrium configurations, obtained by solving an optimization problem in the Special Euclidean group
SE
(
3
)
. Muscle controls are then iteratively computed based on the co-state variable arising from the solution of the optimization problem. The approach is numerically demonstrated in the physically accurate software environment
Elastica
. Results of numerical experiments mimicking observed octopus behaviours are reported.
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Affiliation(s)
- Heng-Sheng Chang
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
- Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Udit Halder
- Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Chia-Hsien Shih
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Noel Naughton
- Beckman Institute for Advanced Science and Technology, Urbana, IL 61801, USA
| | - Mattia Gazzola
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
- National Center for Supercomputing Applications, Urbana, IL 61801, USA
- Carl R. Woese Institute for Genomic Biology, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
| | - Prashant G. Mehta
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
- Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA
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13
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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: 6] [Impact Index Per Article: 6.0] [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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14
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Dai Y, Deng Z, Wang X, Yuan H. A Hybrid Controller for a Soft Pneumatic Manipulator Based on Model Predictive Control and Iterative Learning Control. SENSORS (BASEL, SWITZERLAND) 2023; 23:1272. [PMID: 36772312 PMCID: PMC9918892 DOI: 10.3390/s23031272] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 12/14/2022] [Revised: 01/10/2023] [Accepted: 01/17/2023] [Indexed: 06/18/2023]
Abstract
Due to the outstanding characteristics of the large structural flexibility and strong dexterity of soft robots, they have attracted great attention. However, the dynamic modeling and precise control of soft robots face huge challenges. Traditional model-based and model-free control methods find it difficult to obtain a balance between complexity and accuracy. In this paper, a dynamic model of a three-chamber continuous pneumatic manipulator is established based on the modal method. Moreover, a hybrid controller integrating model predictive control (MPC) and iterative learning control (ILC) is proposed, which can simultaneously perform model parameter learning and trajectory tracking control. Experimental results show that the proposed control method can optimize the parameters of the dynamic model in real time with less iterations than the traditional model-free method and have good control performance in trajectory tracking experiments. In the future, the proposed dynamic model and the hybrid controller should be verified on a multi-section manipulator.
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Affiliation(s)
- Yicheng Dai
- School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
- Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen 518055, China
| | - Zhihao Deng
- School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Xin Wang
- School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
| | - Han Yuan
- School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055, China
- Guangdong Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics, Shenzhen 518055, China
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15
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Huang Q, Wang P, Wang Y, Xia X, Li S. Kinematic Analysis of Bionic Elephant Trunk Robot Based on Flexible Series-Parallel Structure. Biomimetics (Basel) 2022; 7:biomimetics7040228. [PMID: 36546927 PMCID: PMC9775251 DOI: 10.3390/biomimetics7040228] [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: 10/15/2022] [Revised: 11/22/2022] [Accepted: 11/30/2022] [Indexed: 12/12/2022] Open
Abstract
Researchers borrow ideas from biological characteristics and behavior in design to make bionic robots that can meet unstructured and complex operating environments. The elephant trunk has been widely imitated by bionic robots because of its strong dexterity and stiffness adjustability. Due to the complex structure of the current elephant trunk robot, a series-parallel elephant trunk robot based on flexible rod actuation and a 6-degree-of-freedom (6-dof) parallel module is proposed in this paper. The bionic robot has a simple structure and redundant kinematics, which can realize the control of stiffness. This work focuses on the modeling of the flexible driving rod, the kinematics of a single parallel module, and the whole biomimetic robot. The kinematics are verified by simulation, which lays a foundation for future research on stiffness regulation.
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Affiliation(s)
- Qitao Huang
- Harbin Institute of Technology, School of Mechatronics Engineering, Harbin 150001, China
- Correspondence:
| | - Peng Wang
- Harbin Institute of Technology, School of Mechatronics Engineering, Harbin 150001, China
| | - Yuhao Wang
- Harbin Institute of Technology, School of Mechatronics Engineering, Harbin 150001, China
| | - Xiaohua Xia
- Key Laboratory of Road Construction Technology and Equipment of MOE, Chang’an University, Xi’an 710064, China
| | - Songjing Li
- Harbin Institute of Technology, School of Mechatronics Engineering, Harbin 150001, China
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16
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Tanaka H, Seki Y, Ueno S, Shibutani Y. Conformational deformation of a multi-jointed elastic loop. Sci Rep 2022; 12:19984. [PMID: 36411324 PMCID: PMC9678883 DOI: 10.1038/s41598-022-24355-7] [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: 06/21/2022] [Accepted: 11/14/2022] [Indexed: 11/23/2022] Open
Abstract
A new class of deformation is presented for a planar loop structure made up of slender elastic bodies and joints. In demonstrating the circumferential shortening of the multi-jointed elastic loop, diverse three-dimensional (3D) deformations emerge through piecewise deflections and discrete rotations. These 3D morphologies correspond to conformations of molecular ring systems. Through image processing, the 3D reconstructions of the deformed structures are characterized by number, geometry, and initial imperfections of the body segments. We elucidate from measurements that the conformational deformation without self-stress results from a cyclical assembly of compressive bending of elastic bodies with high shear rigidity. The mechanical insights gained may apply in controlling the polymorphism exhibited by the cyclical structures across scales.
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Affiliation(s)
- Hiro Tanaka
- grid.136593.b0000 0004 0373 3971Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871 Japan
| | - Yuji Seki
- grid.136593.b0000 0004 0373 3971Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871 Japan
| | - Shohei Ueno
- grid.136593.b0000 0004 0373 3971Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871 Japan
| | - Yoji Shibutani
- grid.136593.b0000 0004 0373 3971Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871 Japan ,grid.267852.c0000 0004 0637 2083Nanotechnology Program, VNU Vietnam Japan University, Luu Huu Phuoc Street, My Dinh 1 Ward, Nam Tu Liem District, Hanoi, Vietnam
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17
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Abstract
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception and motion planning. Here, we circumvent the need for feedback or precise planning by using an array of fluidically actuated slender hollow elastomeric filaments to actively entangle with objects that vary in geometric and topological complexity. The resulting stochastic interactions enable a unique soft and conformable grasping strategy across a range of target objects that vary in size, weight, and shape. We experimentally evaluate the grasping performance of our strategy and use a computational framework for the collective mechanics of flexible filaments in contact with complex objects to explain our findings. Overall, our study highlights how active collective entanglement of a filament array via an uncontrolled, spatially distributed scheme provides options for soft, adaptable grasping.
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18
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Leveziel M, Haouas W, Laurent GJ, Gauthier M, Dahmouche R. MiGriBot: A miniature parallel robot with integrated gripping for high-throughput micromanipulation. Sci Robot 2022; 7:eabn4292. [PMID: 36001685 DOI: 10.1126/scirobotics.abn4292] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/02/2022]
Abstract
Although robotic micromanipulation using microtweezers has been widely explored, the current manipulation throughput hardly exceeds one operation per second. Increasing the manipulation throughput is thus a key factor for the emergence of robotized microassembly industries. This article presents MiGriBot (Millimeter Gripper Robot), a miniaturized parallel robot with a configurable platform and soft joints, designed to perform pick-and-place operations at the microscale. MiGriBot combines in a single robot the benefits of a parallel kinematic architecture with a configurable platform and the use of soft joints at the millimeter scale. The configurable platform of the robot provides an internal degree of freedom that can be used to actuate microtweezers using piezoelectric bending actuators located at the base of the robot, which notably reduces the robot's inertia. The soft joints make it possible to miniaturize the mechanism and to avoid friction. These benefits enable MiGriBot to reach a throughput of 10 pick-and-place cycles per second of micrometer-sized objects, with a precision of 1 micrometer.
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Affiliation(s)
- Maxence Leveziel
- FEMTO-ST Institute, CNRS, Univ. Bourgogne Franche-Comté, 24 rue Alain Savary, F-25000 Besançon, France
| | - Wissem Haouas
- FEMTO-ST Institute, CNRS, Univ. Bourgogne Franche-Comté, 24 rue Alain Savary, F-25000 Besançon, France
| | - Guillaume J Laurent
- FEMTO-ST Institute, CNRS, Univ. Bourgogne Franche-Comté, 24 rue Alain Savary, F-25000 Besançon, France
| | - Michaël Gauthier
- FEMTO-ST Institute, CNRS, Univ. Bourgogne Franche-Comté, 24 rue Alain Savary, F-25000 Besançon, France
| | - Redwan Dahmouche
- FEMTO-ST Institute, CNRS, Univ. Bourgogne Franche-Comté, 24 rue Alain Savary, F-25000 Besançon, France
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19
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Floyd C, Ni H, Gunaratne RS, Erban R, Papoian GA. On Stretching, Bending, Shearing, and Twisting of Actin Filaments I: Variational Models. J Chem Theory Comput 2022; 18:4865-4878. [PMID: 35895330 DOI: 10.1021/acs.jctc.2c00318] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/29/2022]
Abstract
Mechanochemical simulations of actomyosin networks are traditionally based on one-dimensional models of actin filaments having zero width. Here, and in the follow up paper (arXiv, DOI 10.48550/arXiv.2203.01284), approaches are presented for more efficient modeling that incorporates stretching, shearing, and twisting of actin filaments. Our modeling of a semiflexible filament with a small but finite width is based on the Cosserat theory of elastic rods, which allows for six degrees of freedom at every point on the filament's backbone. In the variational models presented in this paper, a small and discrete set of parameters is used to describe a smooth filament shape having all degrees of freedom allowed in the Cosserat theory. Two main approaches are introduced: one where polynomial spline functions describe the filament's configuration, and one in which geodesic curves in the space of the configurational degrees of freedom are used. We find that in the latter representation the strain energy function can be calculated without resorting to a small-angle expansion, so it can describe arbitrarily large filament deformations without systematic error. These approaches are validated by a dynamical model of a Cosserat filament, which can be further extended by using multiresolution methods to allow more detailed monomer-based resolution in certain parts of the actin filament, as introduced in the follow up paper. The presented framework is illustrated by showing how torsional compliance in a finite-width filament can induce broken chiral symmetry in the structure of a cross-linked bundle.
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Affiliation(s)
- Carlos Floyd
- Department of Chemistry & Biochemistry, Institute for Physical Science and Technology, University of Maryland, College Park, Maryland 20742, United States
| | - Haoran Ni
- Department of Chemistry & Biochemistry, Institute for Physical Science and Technology, University of Maryland, College Park, Maryland 20742, United States
| | - Ravinda S Gunaratne
- Mathematical Institute, University of Oxford, Radcliffe Observatory Quarter, Woodstock Road, Oxford, OX2 6GG, United Kingdom
| | - Radek Erban
- Mathematical Institute, University of Oxford, Radcliffe Observatory Quarter, Woodstock Road, Oxford, OX2 6GG, United Kingdom
| | - Garegin A Papoian
- Department of Chemistry & Biochemistry, Institute for Physical Science and Technology, University of Maryland, College Park, Maryland 20742, United States
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20
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Bhosale Y, Weiner N, Butler A, Kim SH, Gazzola M, King H. Micromechanical Origin of Plasticity and Hysteresis in Nestlike Packings. PHYSICAL REVIEW LETTERS 2022; 128:198003. [PMID: 35622032 DOI: 10.1103/physrevlett.128.198003] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/01/2021] [Accepted: 04/05/2022] [Indexed: 06/15/2023]
Abstract
Disordered packings of unbonded, semiflexible fibers represent a class of materials spanning contexts and scales. From twig-based bird nests to unwoven textiles, bulk mechanics of disparate systems emerge from the bending of constituent slender elements about impermanent contacts. In experimental and computational packings of wooden sticks, we identify prominent features of their response to cyclic oedometric compression: nonlinear stiffness, transient plasticity, and eventually repeatable velocity-independent hysteresis. We trace these features to their micromechanic origins, identified in characteristic appearance, disappearance, and displacement of internal contacts.
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Affiliation(s)
- Yashraj Bhosale
- Mechanical Sciences and Engineering, University of Illinois at Urbana-Champaign, Urbana, Illinois 61801, USA
| | - Nicholas Weiner
- School of Polymer Science and Polymer Engineering, University of Akron, Akron, Ohio 44325, USA
| | - Alex Butler
- School of Polymer Science and Polymer Engineering, University of Akron, Akron, Ohio 44325, USA
| | - Seung Hyun Kim
- Mechanical Sciences and Engineering, University of Illinois at Urbana-Champaign, Urbana, Illinois 61801, USA
| | - Mattia Gazzola
- Mechanical Sciences and Engineering, University of Illinois at Urbana-Champaign, Urbana, Illinois 61801, USA
- National Center for Supercomputing Applications, University of Illinois at Urbana-Champaign, Urbana, Illinois 61801, USA
- Carl R. Woese Institute for Genomic Biology, University of Illinois at Urbana-Champaign, Urbana, Illinois 61801, USA
| | - Hunter King
- School of Polymer Science and Polymer Engineering, University of Akron, Akron, Ohio 44325, USA
- Department of Biology, University of Akron, Akron, Ohio 44325, USA
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21
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Plumb-Reyes TB, Charles N, Mahadevan L. Combing a double helix. SOFT MATTER 2022; 18:2767-2775. [PMID: 35315468 DOI: 10.1039/d1sm01533h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
Combing hair involves brushing away the topological tangles in a collective curl, defined as a bundle of interacting elastic filaments. Using a combination of experiment and computation, we study this problem that naturally links topology, geometry and mechanics. Observations show that the dominant interactions in hair are those of a two-body nature, corresponding to a braided homochiral double helix. This minimal model allows us to study the detangling of an elastic double helix driven by a single stiff tine that moves along it and leaves two untangled filaments in its wake. Our results quantify how the mechanics of detangling correlates with the dynamics of a topological quantity, the link density, that propagates ahead of the tine and flows out the free end as a link current. This in turn provides a measure of the maximum characteristic length of a single combing stroke in the many-body problem on a head of hair, producing an optimal combing strategy that balances trade-offs between comfort, efficiency and speed of combing in hair curls of varying geometrical and topological complexity.
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Affiliation(s)
- Thomas B Plumb-Reyes
- School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138, USA
| | - Nicholas Charles
- School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138, USA
| | - L Mahadevan
- School of Engineering and Applied Sciences, Departments of Physics and Organismic and Evolutionary Biology, Harvard University, Cambridge, MA, 02138, USA.
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22
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Kamtikar S, Marri S, Walt B, Uppalapati NK, Krishnan G, Chowdhary G. Visual Servoing for Pose Control of Soft Continuum Arm in a Structured Environment. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3155821] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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23
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Numerical simulation of filtration processes in the flow-induced deformation of fibrous porous media by a three-dimensional two-way fluid–structure interaction scheme. Chem Eng Sci 2022. [DOI: 10.1016/j.ces.2022.117500] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/23/2022]
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24
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Li J, Chen X, Su Y, Wang W, Lam J, Wang Z. Kinematic Analysis of Soft Continuum Manipulators Based on Sparse Workspace Mapping. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3154007] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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25
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Fortais A, Loukiantchenko E, Dalnoki-Veress K. Writhing and hockling instabilities in twisted elastic fibers. THE EUROPEAN PHYSICAL JOURNAL. E, SOFT MATTER 2021; 44:149. [PMID: 34905133 DOI: 10.1140/epje/s10189-021-00135-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/04/2021] [Accepted: 10/06/2021] [Indexed: 06/14/2023]
Abstract
The buckling and twisting of slender, elastic fibers is a deep and well-studied field. A slender elastic rod that is twisted with respect to a fixed end will spontaneously form a loop, or hockle, to relieve the torsional stress that builds. Further twisting results in the formation of plectonemes-a helical excursion in the fiber that extends with additional twisting. Here we use an idealized, micron-scale experiment to investigate the energy stored, and subsequently released, by hockles and plectonemes as they are pulled apart, in analogy with force spectroscopy studies of DNA and protein folding. Hysteresis loops in the snapping and unsnapping inform the stored energy in the twisted fiber structures.
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Affiliation(s)
- Adam Fortais
- Department of Physics and Astronomy, McMaster University, 1280 Main Street West, Hamilton, ON, L8S 4M1, Canada
| | - Elsie Loukiantchenko
- Department of Physics and Astronomy, McMaster University, 1280 Main Street West, Hamilton, ON, L8S 4M1, Canada
| | - Kari Dalnoki-Veress
- Department of Physics and Astronomy, McMaster University, 1280 Main Street West, Hamilton, ON, L8S 4M1, Canada.
- UMR CNRS Gulliver 7083, ESPCI Paris, PSL Research University, 75005, Paris, France.
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26
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Korner K, Audoly B, Bhattacharya K. Simple deformation measures for discrete elastic rods and ribbons. Proc Math Phys Eng Sci 2021. [DOI: 10.1098/rspa.2021.0561] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
The discrete elastic rod method (Bergou
et al.
2008
ACM Trans. Graph
.
27
, 63:1–63:12. (
doi:10.1145/1360612.1360662
)) is a numerical method for simulating slender elastic bodies. It works by representing the centreline as a polygonal chain, attaching two perpendicular directors to each segment and defining discrete stretching, bending and twisting deformation measures and a discrete strain energy. Here, we investigate an alternative formulation of this model based on a simpler definition of the discrete deformation measures. Both formulations are equally consistent with the continuous rod model. Simple formulae for the first and second gradients of the discrete deformation measures are derived, making it easy to calculate the Hessian of the discrete strain energy. A few numerical illustrations are given. The approach is also extended to inextensible ribbons described by the Wunderlich model, and both the developability constraint and the dependence of the energy on the strain gradients are handled naturally.
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Affiliation(s)
- K. Korner
- Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
| | - B. Audoly
- Laboratoire de Mécanique des Solides, CNRS, Institut Polytechnique de Paris, Palaiseau, France
| | - K. Bhattacharya
- Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, USA
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27
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Zhang X, Naughton N, Parthasarathy T, Gazzola M. Friction modulation in limbless, three-dimensional gaits and heterogeneous terrains. Nat Commun 2021; 12:6076. [PMID: 34667170 PMCID: PMC8526626 DOI: 10.1038/s41467-021-26276-x] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/22/2021] [Accepted: 09/09/2021] [Indexed: 11/10/2022] Open
Abstract
Motivated by a possible convergence of terrestrial limbless locomotion strategies ultimately determined by interfacial effects, we show how both 3D gait alterations and locomotory adaptations to heterogeneous terrains can be understood through the lens of local friction modulation. Via an effective-friction modeling approach, compounded by 3D simulations, the emergence and disappearance of a range of locomotory behaviors observed in nature is systematically explained in relation to inhabited environments. Our approach also simplifies the treatment of terrain heterogeneity, whereby even solid obstacles may be seen as high friction regions, which we confirm against experiments of snakes ‘diffracting’ while traversing rows of posts, similar to optical waves. We further this optic analogy by illustrating snake refraction, reflection and lens focusing. We use these insights to engineer surface friction patterns and demonstrate passive snake navigation in complex topographies. Overall, our study outlines a unified view that connects active and passive 3D mechanics with heterogeneous interfacial effects to explain a broad set of biological observations, and potentially inspire engineering design. A long puzzle in snake’s locomotion, sidewinding allows them to travel at an angle and reorient in some environments without loss of speed. Here, authors provide a mathematical argument to the evolution of sidewinding gaits and reinforce an analogy between limbless terrestrial locomotion and optics.
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Affiliation(s)
- Xiaotian Zhang
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Chmpaign, Urbana, IL, 61801, USA
| | - Noel Naughton
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Chmpaign, Urbana, IL, 61801, USA.,Beckman Institute for Advanced Science and Technology, University of Illinois at Urbana-Champaign, Urbana, IL, 61801, USA
| | - Tejaswin Parthasarathy
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Chmpaign, Urbana, IL, 61801, USA
| | - Mattia Gazzola
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Chmpaign, 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. .,Center for Artificial Intelligence Innovation, University of Illinois at Urbana-Champaign, Urbana, IL, 61801, USA.
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28
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KOH HEEYUEN, LEE JAEGYUNG, LEE JAEYOUNG, KIM RYAN, TABATA OSAMU, JIN-WOO KIM, KIM DONYUN. Design Approaches and Computational Tools for DNA Nanostructures. IEEE OPEN JOURNAL OF NANOTECHNOLOGY 2021; 2:86-100. [PMID: 35756857 PMCID: PMC9232119 DOI: 10.1109/ojnano.2021.3119913] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/30/2023]
Abstract
Designing a structure in nanoscale with desired shape and properties has been enabled by structural DNA nanotechnology. Design strategies in this research field have evolved to interpret various aspects of increasingly more complex nanoscale assembly and to realize molecular-level functionality by exploring static to dynamic characteristics of the target structure. Computational tools have naturally been of significant interest as they are essential to achieve a fine control over both shape and physicochemical properties of the structure. Here, we review the basic design principles of structural DNA nanotechnology together with its computational analysis and design tools.
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Affiliation(s)
- HEEYUEN KOH
- Institute of Advanced Machines and Design, Seoul National University, Seoul 08826, Republic of Korea
| | - JAE GYUNG LEE
- Department of Mechanical Engineering, Seoul National University, Seoul 08826, Republic of Korea
| | - JAE YOUNG LEE
- Institute of Advanced Machines and Design, Seoul National University, Seoul 08826, Republic of Korea
| | - RYAN KIM
- John A. Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138 USA
- Bio/Nano Technology Group, Institute for Nanoscience and Engineering, University of Arkansas, Fayetteville, AR 72701 USA
| | - OSAMU TABATA
- Faculty of Engineering, Kyoto University of Advanced Science, Kyoto 621-8555, Japan
| | - KIM JIN-WOO
- Bio/Nano Technology Group, Institute for Nanoscience and Engineering, University of Arkansas, Fayetteville, AR 72701 USA
- Department of Biological and Agricultural Engineering, University of Arkansas, Fayetteville, AR 72701 USA
- Materials Science and Engineering Program, University of Arkansas, Fayetteville, AR 72701 USA
| | - DO-NYUN KIM
- Institute of Advanced Machines and Design, Seoul National University, Seoul 08826, Republic of Korea
- Department of Mechanical Engineering, Seoul National University, Seoul 08826, Republic of Korea
- Institute of Engineering Research, Seoul National University, Seoul 08826, Republic of Korea
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29
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Zhang D, Yang W, Gong W, Ma W, Hou C, Li Y, Zhang Q, Wang H. Abrasion Resistant/Waterproof Stretchable Triboelectric Yarns Based on Fermat Spirals. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2021; 33:e2100782. [PMID: 34028894 DOI: 10.1002/adma.202100782] [Citation(s) in RCA: 34] [Impact Index Per Article: 11.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/29/2021] [Revised: 04/07/2021] [Indexed: 06/12/2023]
Abstract
Emerging energy harvesting yarns, via triboelectric effects, have wide application prospects in new-generation wearable electronics. However, few studies have been carried out regarding simultaneously achieving high electrical performance, mechanical robustness, and comfortability in industrial-scalable yarn. Here, an electronic yarn twisted into Fermat spiral, which has outstanding dynamic structure stability, is reported. The Fermat-spiral-based energy yarns (FSBEY) can simultaneously realize ultrahigh abrasion resistance (over 5000 Martindale standard abrasion cycles), stable reversible strain (100%), and excellent electrical output. Considerably high output (105 V, ≈1.2 µA under 2 Hz) can be attained upon contacting a single yarn (30 cm) with latex material, which is superior to most state-of-the-art stretchable triboelectric yarns. The application of these FSBEY in wireless gesture recognition, smart screen information protection, and harvesting of energy from water dropletsis demonstrated. Moreover, textiles knitted from the FSBEY have distinguished waterproof nature and are breathable. This work shows a feasible proposal for building future "energy garments".
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Affiliation(s)
- Dewei Zhang
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai, 201620, P. R. China
| | - Weifeng Yang
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai, 201620, P. R. China
| | - Wei Gong
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai, 201620, P. R. China
| | - Wanwan Ma
- College of Textiles, Donghua University, Shanghai, 201620, P. R. China
| | - Chengyi Hou
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai, 201620, P. R. China
| | - Yaogang Li
- Engineering Research Center of Advanced Glasses Manufacturing Technology, Ministry of Education, Donghua University, Shanghai, 201620, P. R. China
| | - Qinghong Zhang
- Engineering Research Center of Advanced Glasses Manufacturing Technology, Ministry of Education, Donghua University, Shanghai, 201620, P. R. China
| | - Hongzhi Wang
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai, 201620, P. R. China
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30
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Modeling and Fabrication of Soft Actuators Based on Fiber-Reinforced Elastomeric Enclosures. ACTUATORS 2021. [DOI: 10.3390/act10060127] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Unlike rigid actuators, soft actuators can easily adapt to complex environments. Understanding the relationship between the deformation of soft actuators and external factors such as pressure would enable rapid designs based on specific requirements, such as flexible, compliant endoscopes. An effective model is demonstrated that predicts the deformation of a soft actuator based on the virtual work principle and the geometrically exact Cosserat rod theory. The deformation process is analyzed for extension, bending, and twisting modules. A new manufacturing method is then introduced. Through any combination of modules, the soft actuator can have a greater workspace and more dexterity. The proposed model was verified for various fiber-reinforced elastomeric enclosures. There is good agreement between the model analysis and the experimental data, which indicates the effectiveness of the model.
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31
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Favier B. Spontaneous knotting of a flexible fiber in chaotic flows. Phys Rev E 2021; 103:043101. [PMID: 34005912 DOI: 10.1103/physreve.103.043101] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/25/2020] [Accepted: 03/18/2021] [Indexed: 01/21/2023]
Abstract
We consider the problem of an inextensible but flexible fiber advected by a steady chaotic flow, and ask the simple question of whether the fiber can spontaneously knot itself. Using a one-dimensional Cosserat model, a simple local viscous drag model and discrete contact forces, we explore the probability of finding knots at any given time when the fiber is interacting with the ABC class of flows. The bending rigidity is shown to have a marginal effect compared to that of increasing the fiber length. Complex knots are formed up to 11 crossings, but some knots are more probable than others. The finite-time Lyapunov exponent of the flow is shown to have a positive effect on the knot probability. Finally, contact forces appear to be crucial since knotted configurations can remain stable for times much longer than the turnover time of the flow, something that is not observed when the fiber can freely cross itself.
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Affiliation(s)
- Benjamin Favier
- Aix Marseille Univ, CNRS, Centrale Marseille, IRPHE, Marseille, France
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32
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Naughton N, Sun J, Tekinalp A, Parthasarathy T, Chowdhary G, Gazzola M. Elastica: A Compliant Mechanics Environment for Soft Robotic Control. IEEE Robot Autom Lett 2021. [DOI: 10.1109/lra.2021.3063698] [Citation(s) in RCA: 15] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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33
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Blumenschein LH, Coad MM, Haggerty DA, Okamura AM, Hawkes EW. Design, Modeling, Control, and Application of Everting Vine Robots. Front Robot AI 2020; 7:548266. [PMID: 33501315 PMCID: PMC7805729 DOI: 10.3389/frobt.2020.548266] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/02/2020] [Accepted: 10/29/2020] [Indexed: 11/15/2022] Open
Abstract
In nature, tip-localized growth allows navigation in tightly confined environments and creation of structures. Recently, this form of movement has been artificially realized through pressure-driven eversion of flexible, thin-walled tubes. Here we review recent work on robots that "grow" via pressure-driven eversion, referred to as "everting vine robots," due to a movement pattern that is similar to that of natural vines. We break this work into four categories. First, we examine the design of everting vine robots, highlighting tradeoffs in material selection, actuation methods, and placement of sensors and tools. These tradeoffs have led to application-specific implementations. Second, we describe the state of and need for modeling everting vine robots. Quasi-static models of growth and retraction and kinematic and force-balance models of steering and environment interaction have been developed that use simplifying assumptions and limit the involved degrees of freedom. Third, we report on everting vine robot control and planning techniques that have been developed to move the robot tip to a target, using a variety of modalities to provide reference inputs to the robot. Fourth, we highlight the benefits and challenges of using this paradigm of movement for various applications. Everting vine robot applications to date include deploying and reconfiguring structures, navigating confined spaces, and applying forces on the environment. We conclude by identifying gaps in the state of the art and discussing opportunities for future research to advance everting vine robots and their usefulness in the field.
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Affiliation(s)
| | - Margaret M. Coad
- Mechanical Engineering, Stanford University, Stanford, CA, United States
| | - David A. Haggerty
- Mechanical Engineering, University of California, Santa Barbara, Santa Barbara, CA, United States
| | - Allison M. Okamura
- Mechanical Engineering, Stanford University, Stanford, CA, United States
| | - Elliot W. Hawkes
- Mechanical Engineering, University of California, Santa Barbara, Santa Barbara, CA, United States
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34
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Porat A, Tedone F, Palladino M, Marcati P, Meroz Y. A General 3D Model for Growth Dynamics of Sensory-Growth Systems: From Plants to Robotics. Front Robot AI 2020; 7:89. [PMID: 33501256 PMCID: PMC7806001 DOI: 10.3389/frobt.2020.00089] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/16/2020] [Accepted: 06/03/2020] [Indexed: 12/31/2022] Open
Abstract
In recent years, there has been a rise in interest in the development of self-growing robotics inspired by the moving-by-growing paradigm of plants. In particular, climbing plants capitalize on their slender structures to successfully negotiate unstructured environments while employing a combination of two classes of growth-driven movements: tropic responses, growing toward or away from an external stimulus, and inherent nastic movements, such as periodic circumnutations, which promote exploration. In order to emulate these complex growth dynamics in a 3D environment, a general and rigorous mathematical framework is required. Here, we develop a general 3D model for rod-like organs adopting the Frenet-Serret frame, providing a useful framework from the standpoint of robotics control. Differential growth drives the dynamics of the organ, governed by both internal and external cues while neglecting elastic responses. We describe the numerical method required to implement this model and perform numerical simulations of a number of key scenarios, showcasing the applicability of our model. In the case of responses to external stimuli, we consider a distant stimulus (such as sunlight and gravity), a point stimulus (a point light source), and a line stimulus that emulates twining of a climbing plant around a support. We also simulate circumnutations, the response to an internal oscillatory cue, associated with search processes. Lastly, we also demonstrate the superposition of the response to an external stimulus and circumnutations. In addition, we consider a simple example illustrating the possible use of an optimal control approach in order to recover tropic dynamics in a way that may be relevant for robotics use. In all, the model presented here is general and robust, paving the way for a deeper understanding of plant response dynamics and also for novel control systems for newly developed self-growing robots.
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Affiliation(s)
- Amir Porat
- Faculty of Exact Sciences, School of Physics, Tel Aviv University, Tel Aviv, Israel
| | | | | | | | - Yasmine Meroz
- Faculty of Life Sciences, School of Plant Sciences and Food Security, Tel Aviv University, Tel Aviv, Israel
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35
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Fatehiboroujeni S, Petra N, Goyal S. Linearized Bayesian inference for Young's modulus parameter field in an elastic model of slender structures. Proc Math Phys Eng Sci 2020; 476:20190476. [PMID: 32831582 PMCID: PMC7428038 DOI: 10.1098/rspa.2019.0476] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/28/2019] [Accepted: 05/13/2020] [Indexed: 01/20/2023] Open
Abstract
The deformations of several slender structures at nano-scale are conceivably sensitive to their non-homogenous elasticity. Owing to their small scale, it is not feasible to discern their elasticity parameter fields accurately using observations from physical experiments. Molecular dynamics simulations can provide an alternative or additional source of data. However, the challenges still lie in developing computationally efficient and robust methods to solve inverse problems to infer the elasticity parameter field from the deformations. In this paper, we formulate an inverse problem governed by a linear elastic model in a Bayesian inference framework. To make the problem tractable, we use a Gaussian approximation of the posterior probability distribution that results from the Bayesian solution of the inverse problem of inferring Young's modulus parameter fields from available data. The performance of the computational framework is demonstrated using two representative loading scenarios, one involving cantilever bending and the other involving stretching of a helical rod (an intrinsically curved structure). The results show that smoothly varying parameter fields can be reconstructed satisfactorily from noisy data. We also quantify the uncertainty in the inferred parameters and discuss the effect of the quality of the data on the reconstructions.
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Affiliation(s)
| | - Noemi Petra
- Department of Applied Mathematics, University of California Merced, Merced, CA, USA
| | - Sachin Goyal
- Department of Mechanical Engineering, University of California Merced, Merced, CA, USA
- Health Science Research Institute, University of California Merced, Merced, CA, USA
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36
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Alben S, Puritz C. Intermittent sliding locomotion of a two-link body. Phys Rev E 2020; 101:052613. [PMID: 32575270 DOI: 10.1103/physreve.101.052613] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/11/2020] [Accepted: 05/07/2020] [Indexed: 11/07/2022]
Abstract
We study the possibility of efficient intermittent locomotion for two-link bodies that slide by changing their interlink angle periodically in time. We find that the anisotropy ratio of the sliding friction coefficients is a key parameter, while solutions have a simple scaling dependence on the friction coefficients' magnitudes. With very anisotropic friction, efficient motions involve coasting in low-drag states, with rapid and asymmetric power and recovery strokes. As the anisotropy decreases, burst-and-coast motions change to motions with long power strokes and short recovery strokes, and roughly constant interlink angle velocity on each. These motions are seen in the spaces of sinusoidal and power-law motions described by two and five parameters, respectively. Allowing the duty cycle to vary greatly increases the motions' efficiency compared to the case of symmetric power and recovery strokes. Allowing further variations in the concavity of the power and recovery strokes improves the efficiency further only when friction is very anisotropic. Near isotropic friction, a variety of optimally efficient motions are found with more complex waveforms. Many of the optimal sinusoidal and power-law motions are similar to those that we find with an optimization search in the space of more general periodic functions (truncated Fourier series). When we increase the resistive force's power-law dependence on velocity, the optimal motions become smoother, slower, and less efficient, particularly near isotropic friction.
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Affiliation(s)
- Silas Alben
- Department of Mathematics, University of Michigan, Ann Arbor, Michigan 48109, USA
| | - Connor Puritz
- Department of Mathematics, University of Michigan, Ann Arbor, Michigan 48109, USA
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37
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Santina CD, Rus D. Control Oriented Modeling of Soft Robots: The Polynomial Curvature Case. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2019.2955936] [Citation(s) in RCA: 43] [Impact Index Per Article: 10.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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38
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Fan Z, Yang Y, Zhang F, Xu Z, Zhao H, Wang T, Song H, Huang Y, Rogers JA, Zhang Y. Inverse Design Strategies for 3D Surfaces Formed by Mechanically Guided Assembly. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2020; 32:e1908424. [PMID: 32100406 DOI: 10.1002/adma.201908424] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/24/2019] [Revised: 01/29/2020] [Indexed: 06/10/2023]
Abstract
Deterministic transformations of 2D patterns of materials into well-controlled 3D mesostructures serve as the basis for manufacturing methods that can bypass limitations of conventional 3D micro/nanofabrication. Here, guided mechanical buckling processes provide access to a rich range of complex 3D mesostructures in high-performance materials, from inorganic and organic semiconductors, metals and dielectrics, to ceramics and even 2D materials (e.g., graphene, MoS2 ). Previous studies demonstrate that iterative computational procedures can define design parameters for certain targeted 3D configurations, but without the ability to address complex shapes. A technical need is in efficient, generalized inverse design algorithms that directly yield sets of optimized parameters. Here, such schemes are introduced, where the distributions of thicknesses across arrays of separated or interconnected ribbons provide scalable routes to 3D surfaces with a broad range of targeted shapes. Specifically, discretizing desired shapes into 2D ribbon components allows for analytic solutions to the inverse design of centrally symmetric and even general surfaces, in an approximate manner. Combined theoretical, numerical, and experimental studies of ≈20 different 3D structures with characteristic sizes (e.g., ribbon width) ranging from ≈200 µm to ≈2 cm and with geometries that resemble hemispheres, fire balloons, flowers, concave lenses, saddle surfaces, waterdrops, and rodents, illustrate the essential ideas.
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Affiliation(s)
- Zhichao Fan
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Center for Flexible Electronics Technology, Tsinghua University, Beijing, 100084, P. R. China
| | - Yiyuan Yang
- Departments of Mechanical Engineering, Northwestern University, Evanston, IL, 60208, USA
| | - Fan Zhang
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Center for Flexible Electronics Technology, Tsinghua University, Beijing, 100084, P. R. China
| | - Zheng Xu
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Center for Flexible Electronics Technology, Tsinghua University, Beijing, 100084, P. R. China
- The State Key Laboratory for Manufacturing and Systems Engineering, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an, 710049, P. R. China
| | - Hangbo Zhao
- Center for Bio-Integrated Electronics, Northwestern University, Evanston, IL, 60208, USA
| | - Taoyi Wang
- Department of Physics, Tsinghua University, Beijing, 100084, P. R. China
| | - Honglie Song
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Center for Flexible Electronics Technology, Tsinghua University, Beijing, 100084, P. R. China
| | - Yonggang Huang
- Departments of Civil and Environmental Engineering, Mechanical Engineering, and Materials Science and Engineering, Center for Bio-Integrated Electronics, Northwestern University, Evanston, IL, 60208, USA
| | - John A Rogers
- Department of Materials Science and Engineering, Biomedical Engineering, Neurological Surgery, Chemistry, Mechanical Engineering, Electrical Engineering and Computer Science, Simpson Querrey Institute and Feinberg Medical School, Center for Bio-Integrated Electronics, Northwestern University, Evanston, IL, 60208, USA
| | - Yihui Zhang
- Applied Mechanics Laboratory, Department of Engineering Mechanics, Center for Flexible Electronics Technology, Tsinghua University, Beijing, 100084, P. R. China
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39
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TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models. Int J Rob Res 2020. [DOI: 10.1177/0278364919881685] [Citation(s) in RCA: 23] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023]
Abstract
A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid–continuum robots. Such models should be fast, as simple as possible, and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler–Bernoulli beam segments (EBA). In addition, a new formulation is presented for a recently introduced discretized model based on Euler–Bernoulli beam segments and relative states (EBR). We implement these models in a Matlab software package, named TMTDyn, to develop a modeling tool for hybrid rigid–continuum systems. The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks, implementing Matlab C-mex functionality for improved performance, and modules for static and linear modal analysis of a hybrid system. The underlying theory and software package are validated for modeling experimental results for (i) dynamics of a continuum appendage, and (ii) general deformation of a fabric sleeve worn by a rigid link pendulum. A comparison shows higher simulation accuracy (8–14% normalized error) and numerical robustness of the ROM model for a system with a small number of states, and computational efficiency of the EBA model with near real-time performances that makes it suitable for large systems. The challenges and necessary modules to further automate the design and analysis of hybrid systems with a large number of states are briefly discussed.
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40
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Soft Robotics as an Enabling Technology for Agroforestry Practice and Research. SUSTAINABILITY 2019. [DOI: 10.3390/su11236751] [Citation(s) in RCA: 20] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/04/2023]
Abstract
The shortage of qualified human labor is a key challenge facing farmers, limiting profit margins and preventing the adoption of sustainable and diversified agroecosystems, such as agroforestry. New technologies in robotics could offer a solution to such limitations. Advances in soft arms and manipulators can enable agricultural robots that can have better reach and dexterity around plants than traditional robots equipped with hard industrial robotic arms. Soft robotic arms and manipulators can be far less expensive to manufacture and significantly lighter than their hard counterparts. Furthermore, they can be simpler to design and manufacture since they rely on fluidic pressurization as the primary mechanisms of operation. However, current soft robotic arms are difficult to design and control, slow to actuate, and have limited payloads. In this paper, we discuss the benefits and challenges of soft robotics technology and what it could mean for sustainable agriculture and agroforestry.
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41
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Charles N, Gazzola M, Mahadevan L. Topology, Geometry, and Mechanics of Strongly Stretched and Twisted Filaments: Solenoids, Plectonemes, and Artificial Muscle Fibers. PHYSICAL REVIEW LETTERS 2019; 123:208003. [PMID: 31809094 DOI: 10.1103/physrevlett.123.208003] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/25/2018] [Revised: 03/11/2019] [Indexed: 06/10/2023]
Abstract
Soft elastic filaments that can be stretched, bent, and twisted exhibit a range of topologically and geometrically complex morphologies. Recently, a number of experiments have shown how to use these building blocks to create filament-based artificial muscles that use the conversion of writhe to extension or contraction, exposing the connection between topology, geometry, and mechanics. Here, we combine numerical simulations of soft elastic filaments that account for geometric nonlinearities and self-contact to map out the basic structures underlying artificial muscle fibers in a phase diagram that is a function of the extension and twist density. We then use ideas from computational topology to track the interconversion of link, twist, and writhe in these geometrically complex physical structures to explain the physical principles underlying artificial muscle fibers and provide guidelines for their design.
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Affiliation(s)
- Nicholas Charles
- Paulson School of Engineering and Applied Sciences, Harvard University, Cambridge, Massachusetts 02138, USA
| | - Mattia Gazzola
- Department of Mechanical Science and Engineering and National Center for Supercomputing Applications, University of Illinois at Urbana-Champaign, Urbana, Illinois 61801, USA
| | - L Mahadevan
- Paulson School of Engineering and Applied Sciences, Department of Physics, Department of Organismic and Evolutionary Biology, Harvard University, Cambridge, Massachusetts 02138, USA
- Kavli Institute for Nanobio Science and Technology, Harvard University, Cambridge, Massachusetts 02138, USA
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42
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Ling F, Guo H, Kanso E. Instability-driven oscillations of elastic microfilaments. J R Soc Interface 2019; 15:20180594. [PMID: 30958229 DOI: 10.1098/rsif.2018.0594] [Citation(s) in RCA: 23] [Impact Index Per Article: 4.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/23/2022] Open
Abstract
Cilia and flagella are highly conserved slender organelles that exhibit a variety of rhythmic beating patterns from non-planar cone-like motions to planar wave-like deformations. Although their internal structure, composed of a microtubule-based axoneme driven by dynein motors, is known, the mechanism responsible for these beating patterns remains elusive. Existing theories suggest that the dynein activity is dynamically regulated, via a geometric feedback from the cilium's mechanical deformation to the dynein force. An alternative, open-loop mechanism based on a 'flutter' instability was recently proven to lead to planar oscillations of elastic filaments under follower forces. Here, we show that an elastic filament in viscous fluid, clamped at one end and acted on by an external distribution of compressive axial forces, exhibits a Hopf bifurcation that leads to non-planar spinning of the buckled filament at a locked curvature. We also show the existence of a second bifurcation, at larger force values, that induces a transition from non-planar spinning to planar wave-like oscillations. We elucidate the nature of these instabilities using a combination of nonlinear numerical analysis, linear stability theory and low-order bead-spring models. Our results show that, away from the transition thresholds, these beating patterns are robust to perturbations in the distribution of axial forces and in the filament configuration. These findings support the theory that an open-loop, instability-driven mechanism could explain both the sustained oscillations and the wide variety of periodic beating patterns observed in cilia and flagella.
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Affiliation(s)
- Feng Ling
- Department of Aerospace and Mechanical Engineering, University of Southern California , Los Angeles, CA 90089 , USA
| | - Hanliang Guo
- Department of Aerospace and Mechanical Engineering, University of Southern California , Los Angeles, CA 90089 , USA
| | - Eva Kanso
- Department of Aerospace and Mechanical Engineering, University of Southern California , Los Angeles, CA 90089 , USA
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43
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Zhang X, Chan FK, Parthasarathy T, Gazzola M. Modeling and simulation of complex dynamic musculoskeletal architectures. Nat Commun 2019; 10:4825. [PMID: 31645555 PMCID: PMC6811595 DOI: 10.1038/s41467-019-12759-5] [Citation(s) in RCA: 21] [Impact Index Per Article: 4.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/23/2019] [Accepted: 09/24/2019] [Indexed: 01/19/2023] Open
Abstract
Natural creatures, from fish and cephalopods to snakes and birds, combine neural control, sensory feedback and compliant mechanics to effectively operate across dynamic, uncertain environments. In order to facilitate the understanding of the biophysical mechanisms at play and to streamline their potential use in engineering applications, we present here a versatile numerical approach to the simulation of musculoskeletal architectures. It relies on the assembly of heterogenous, active and passive Cosserat rods into dynamic structures that model bones, tendons, ligaments, fibers and muscle connectivity. We demonstrate its utility in a range of problems involving biological and soft robotic scenarios across scales and environments: from the engineering of millimeter-long bio-hybrid robots to the synthesis and reconstruction of complex musculoskeletal systems. The versatility of this methodology offers a framework to aid forward and inverse bioengineering designs as well as fundamental discovery in the functioning of living organisms.
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Affiliation(s)
- Xiaotian Zhang
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, 61801, USA
| | - Fan Kiat Chan
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, 61801, USA
| | - Tejaswin Parthasarathy
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, 61801, 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.
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44
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Aydin O, Zhang X, Nuethong S, Pagan-Diaz GJ, Bashir R, Gazzola M, Saif MTA. Neuromuscular actuation of biohybrid motile bots. Proc Natl Acad Sci U S A 2019; 116:19841-19847. [PMID: 31527266 PMCID: PMC6778261 DOI: 10.1073/pnas.1907051116] [Citation(s) in RCA: 61] [Impact Index Per Article: 12.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/31/2022] Open
Abstract
The integration of muscle cells with soft robotics in recent years has led to the development of biohybrid machines capable of untethered locomotion. A major frontier that currently remains unexplored is neuronal actuation and control of such muscle-powered biohybrid machines. As a step toward this goal, we present here a biohybrid swimmer driven by on-board neuromuscular units. The body of the swimmer consists of a free-standing soft scaffold, skeletal muscle tissue, and optogenetic stem cell-derived neural cluster containing motor neurons. Myoblasts embedded in extracellular matrix self-organize into a muscle tissue guided by the geometry of the scaffold, and the resulting muscle tissue is cocultured in situ with a neural cluster. Motor neurons then extend neurites selectively toward the muscle and innervate it, developing functional neuromuscular units. Based on this initial construct, we computationally designed, optimized, and implemented light-sensitive flagellar swimmers actuated by these neuromuscular units. Cyclic muscle contractions, induced by neural stimulation, drive time-irreversible flagellar dynamics, thereby providing thrust for untethered forward locomotion of the swimmer. Overall, this work demonstrates an example of a biohybrid robot implementing neuromuscular actuation and illustrates a path toward the forward design and control of neuron-enabled biohybrid machines.
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Affiliation(s)
- Onur Aydin
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
| | - Xiaotian Zhang
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
| | - Sittinon Nuethong
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
| | - Gelson J Pagan-Diaz
- Department of Bioengineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
| | - Rashid Bashir
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
- Department of Bioengineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
| | - Mattia Gazzola
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801;
- National Center for Supercomputing Applications, University of Illinois at Urbana-Champaign, Urbana, IL 61801
| | - M Taher A Saif
- Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801;
- Department of Bioengineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801
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45
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Abstract
Snakes' bodies are covered in scales that make it easier to slide in some directions than in others. This frictional anisotropy allows for sliding locomotion with an undulatory gait, one of the most common for snakes. Isotropic friction is a simpler situation (that arises with snake robots, for example) but is less understood. In this work we regularize a model for sliding locomotion to allow for static friction. We then propose a robust iterative numerical method to study the efficiency of a wide range of motions under isotropic Coulomb friction. We find that simple undulatory motions give little net locomotion in the isotropic regime. We compute general time-harmonic motions of three-link bodies and find three local optima for efficiency. The top two involve static friction to some extent. We then propose a class of smooth body motions that have similarities to concertina locomotion (including the involvement of static friction) and can achieve optimal efficiency for both isotropic and anisotropic friction.
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Affiliation(s)
- Silas Alben
- Department of Mathematics, University of Michigan, Ann Arbor, Michigan 48109, USA
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46
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Mustaza SM, Elsayed Y, Lekakou C, Saaj C, Fras J. Dynamic Modeling of Fiber-Reinforced Soft Manipulator: A Visco-Hyperelastic Material-Based Continuum Mechanics Approach. Soft Robot 2019; 6:305-317. [DOI: 10.1089/soro.2018.0032] [Citation(s) in RCA: 31] [Impact Index Per Article: 6.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Affiliation(s)
- Seri Mastura Mustaza
- Department of Electronic Engineering, Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, United Kingdom
- Fakulti Kejuruteraan dan Alam Bina, Centre for Integrated Systems Engineering and Advanced Technologies (Integra), Universiti Kebangsaan Malaysia, Bangi, Malaysia
| | - Yahya Elsayed
- Department of Mechanical Engineering Sciences, Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, United Kingdom
| | - Constantina Lekakou
- Department of Mechanical Engineering Sciences, Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, United Kingdom
| | - Chakravarthini Saaj
- Department of Electronic Engineering, Faculty of Engineering and Physical Sciences, University of Surrey, Guildford, United Kingdom
| | - Jan Fras
- Przemyslowy Instytut Automatyki i Pomiarow, Warsaw, Poland
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Shiva A, Sadati SH, Noh Y, Fraś J, Ataka A, Würdemann H, Hauser H, Walker ID, Nanayakkara T, Althoefer K. Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation. Soft Robot 2019; 6:228-249. [DOI: 10.1089/soro.2018.0060] [Citation(s) in RCA: 20] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023] Open
Affiliation(s)
- Ali Shiva
- Department of Informatics, Centre for Robotics Research, King's College London, London, United Kingdom
- Morphological Computation and Learning Lab, Dyson School of Design Engineering, Imperial College London, London, United Kingdom
| | - S.M. Hadi Sadati
- Morphological Computation and Learning Lab, Dyson School of Design Engineering, Imperial College London, London, United Kingdom
- Bristol Robotics Laboratory, Faculty of Engineering, University of Bristol, Bristol, United Kingdom
| | - Yohan Noh
- Department of Informatics, Centre for Robotics Research, King's College London, London, United Kingdom
| | - Jan Fraś
- Centre for Advanced Robotics @ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, London, United Kingdom
- Industrial Research Institute for Automation and Measurements PIAP, Warsaw, Poland
| | - Ahmad Ataka
- Department of Informatics, Centre for Robotics Research, King's College London, London, United Kingdom
- Centre for Advanced Robotics @ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, London, United Kingdom
| | - Helge Würdemann
- Department of Mechanical Engineering, University College London, London, United Kingdom
| | - Helmut Hauser
- Bristol Robotics Laboratory, Faculty of Engineering, University of Bristol, Bristol, United Kingdom
| | - Ian D. Walker
- Department of Electrical and Computer Engineering, Clemson University, Clemson, South Carolina
| | - Thrishantha Nanayakkara
- Morphological Computation and Learning Lab, Dyson School of Design Engineering, Imperial College London, London, United Kingdom
| | - Kaspar Althoefer
- Centre for Advanced Robotics @ Queen Mary (ARQ), Faculty of Science and Engineering, Queen Mary University of London, London, United Kingdom
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