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Fang K, Mei H, Song Y, Wang Z, Dai Z. 动物机器人:研究基础、关键技术及发展预测. CHINESE SCIENCE BULLETIN-CHINESE 2022. [DOI: 10.1360/tb-2021-1314] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Wu CC, Chuang WY, Wu CD, Su YC, Huang YY, Huang YJ, Peng SY, Yu SA, Lin CT, Lu SS. A Self-Sustained Wireless Multi-Sensor Platform Integrated with Printable Organic Sensors for Indoor Environmental Monitoring. SENSORS 2017; 17:s17040715. [PMID: 28353680 PMCID: PMC5421675 DOI: 10.3390/s17040715] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/20/2017] [Revised: 03/23/2017] [Accepted: 03/25/2017] [Indexed: 12/04/2022]
Abstract
A self-sustained multi-sensor platform for indoor environmental monitoring is proposed in this paper. To reduce the cost and power consumption of the sensing platform, in the developed platform, organic materials of PEDOT:PSS and PEDOT:PSS/EB-PANI are used as the sensing films for humidity and CO2 detection, respectively. Different from traditional gas sensors, these organic sensing films can operate at room temperature without heating processes or infrared transceivers so that the power consumption of the developed humidity and the CO2 sensors can be as low as 10 μW and 5 μW, respectively. To cooperate with these low-power sensors, a Complementary Metal-Oxide-Semiconductor (CMOS) system-on-chip (SoC) is designed to amplify and to read out multiple sensor signals with low power consumption. The developed SoC includes an analog-front-end interface circuit (AFE), an analog-to-digital convertor (ADC), a digital controller and a power management unit (PMU). Scheduled by the digital controller, the sensing circuits are power gated with a small duty-cycle to reduce the average power consumption to 3.2 μW. The designed PMU converts the power scavenged from a dye sensitized solar cell (DSSC) module into required supply voltages for SoC circuits operation under typical indoor illuminance conditions. To our knowledge, this is the first multiple environmental parameters (Temperature/CO2/Humidity) sensing platform that demonstrates a true self-powering functionality for long-term operations.
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Affiliation(s)
- Chun-Chang Wu
- Graduate Institute of Electronics Engineering, National Taiwan University, Taipei 10617, Taiwan.
| | - Wen-Yu Chuang
- Graduate Institute of Electronics Engineering, National Taiwan University, Taipei 10617, Taiwan.
| | - Ching-Da Wu
- Graduate Institute of Electronics Engineering, National Taiwan University, Taipei 10617, Taiwan.
| | - Yu-Cheng Su
- Graduate Institute of Electronics Engineering, National Taiwan University, Taipei 10617, Taiwan.
| | - Yung-Yang Huang
- Graduate Institute of Electronics Engineering, National Taiwan University, Taipei 10617, Taiwan.
| | - Yang-Jing Huang
- Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 10617, Taiwan.
| | - Sheng-Yu Peng
- Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 10617, Taiwan.
| | - Shih-An Yu
- Graduate Institute of Electronics Engineering, National Taiwan University, Taipei 10617, Taiwan.
| | - Chih-Ting Lin
- Graduate Institute of Electronics Engineering, National Taiwan University, Taipei 10617, Taiwan.
| | - Shey-Shi Lu
- Graduate Institute of Electronics Engineering, National Taiwan University, Taipei 10617, Taiwan.
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Cao F, Zhang C, Choo HY, Sato H. Insect-computer hybrid legged robot with user-adjustable speed, step length and walking gait. J R Soc Interface 2016; 13:20160060. [PMID: 27030043 PMCID: PMC4843679 DOI: 10.1098/rsif.2016.0060] [Citation(s) in RCA: 30] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/20/2016] [Accepted: 03/03/2016] [Indexed: 11/12/2022] Open
Abstract
We have constructed an insect-computer hybrid legged robot using a living beetle (Mecynorrhina torquata; Coleoptera). The protraction/retraction and levation/depression motions in both forelegs of the beetle were elicited by electrically stimulating eight corresponding leg muscles via eight pairs of implanted electrodes. To perform a defined walking gait (e.g., gallop), different muscles were individually stimulated in a predefined sequence using a microcontroller. Different walking gaits were performed by reordering the applied stimulation signals (i.e., applying different sequences). By varying the duration of the stimulation sequences, we successfully controlled the step frequency and hence the beetle's walking speed. To the best of our knowledge, this paper presents the first demonstration of living insect locomotion control with a user-adjustable walking gait, step length and walking speed.
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Affiliation(s)
- Feng Cao
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
| | - Chao Zhang
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
| | - Hao Yu Choo
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
| | - Hirotaka Sato
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore
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Xiang Z, Liu J, Lee C. A flexible three-dimensional electrode mesh: An enabling technology for wireless brain-computer interface prostheses. MICROSYSTEMS & NANOENGINEERING 2016; 2:16012. [PMID: 31057819 PMCID: PMC6444742 DOI: 10.1038/micronano.2016.12] [Citation(s) in RCA: 28] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/17/2015] [Revised: 02/21/2016] [Accepted: 03/01/2016] [Indexed: 05/14/2023]
Abstract
The neural interface is a key component in wireless brain-computer prostheses. In this study, we demonstrate that a unique three-dimensional (3D) microneedle electrode on a flexible mesh substrate, which can be fabricated without complicated micromachining techniques, is conformal to the tissues with minimal invasiveness. Furthermore, we demonstrate that it can be applied to different functional layers in the nervous system without length limitation. The microneedle electrode is fabricated using drawing lithography technology from biocompatible materials. In this approach, the profile of a 3D microneedle electrode array is determined by the design of a two-dimensional (2D) pattern on the mask, which can be used to access different functional layers in different locations of the brain. Due to the sufficient stiffness of the electrode and the excellent flexibility of the mesh substrate, the electrode can penetrate into the tissue with its bottom layer fully conformal to the curved brain surface. Then, the exposed contact at the end of the microneedle electrode can successfully acquire neural signals from the brain.
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Affiliation(s)
- Zhuolin Xiang
- Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, Singapore 117583, Singapore
- Singapore Institute for Neurotechnology (SINAPSE), National University of Singapore, 28 Medical Drive, #05-COR, Singapore 117456, Singapore
- Center for Intelligent Sensors and MEMS, National University of Singapore, 4 Engineering Drive 3, Singapore 117583, Singapore
- NUS Suzhou Research Institute (NUSRI), Suzhou Industrial Park, Suzhou 215123, China
| | - Jingquan Liu
- National Key Laboratory of Science and Technology on Micro/Nano Fabrication, Department of Micro/NanoElectronics, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Chengkuo Lee
- Department of Electrical and Computer Engineering, National University of Singapore, 4 Engineering Drive 3, Singapore 117583, Singapore
- Singapore Institute for Neurotechnology (SINAPSE), National University of Singapore, 28 Medical Drive, #05-COR, Singapore 117456, Singapore
- Center for Intelligent Sensors and MEMS, National University of Singapore, 4 Engineering Drive 3, Singapore 117583, Singapore
- NUS Suzhou Research Institute (NUSRI), Suzhou Industrial Park, Suzhou 215123, China
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Latif T, Bozkurt A. Line following terrestrial insect biobots. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2013; 2012:972-5. [PMID: 23366056 DOI: 10.1109/embc.2012.6346095] [Citation(s) in RCA: 26] [Impact Index Per Article: 2.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
The present day technology falls short in offering centimeter scale mobile robots that can function effectively under unknown and dynamic environmental conditions. Insects, on the other hand, exhibit an unmatched ability to navigate through a wide variety of environments and overcome perturbations by successfully maintaining control and stability. In this study, we use neural stimulation systems to wirelessly navigate cockroaches to follow lines to enable terrestrial insect biobots. We also propose a system-on-chip based ZigBee enabled wireless neurostimulation backpack system with on-board tissue-electrode bioelectrical coupling verification. Such a capability ensures an electrochemically safe stimulation and avoids irreversible damage to the interface which is often misinterpreted as habituation of the insect to the applied stimulation.
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Affiliation(s)
- Tahmid Latif
- Department of Electrical and Computer Engineering at North Carolina State University, Raleigh, NC 27606, USA
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Van Truong T, Byun D, Lavine LC, Emlen DJ, Park HC, Kim MJ. Flight behavior of the rhinoceros beetle Trypoxylus dichotomus during electrical nerve stimulation. BIOINSPIRATION & BIOMIMETICS 2012; 7:036021. [PMID: 22711210 DOI: 10.1088/1748-3182/7/3/036021] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/01/2023]
Abstract
Neuronal stimulation is an intricate part of understanding insect flight behavior and control insect itself. In this study, we investigated the effects of electrical pulses applied to the brain and basalar muscle of the rhinoceros beetle (Trypoxylus dichotomus). To understand specific neuronal stimulation mechanisms, responses and flight behavior of the beetle, four electrodes were implanted into the two optic lobes, the brain's central complex and the ventral nerve cord in the posterior pronotum. We demonstrated flight initiation, turning and cessation by stimulating the brain. The change undergone by the wing flapping in response to the electrical signal was analyzed from a sequence of images captured by a high-speed camera. Here, we provide evidence to distinguish the important differences between neuronal and muscular flight stimulations in beetles. We found that in the neural potential stimulation, both the hind wing and the elytron were suppressed. Interestingly, the beetle stopped flying whenever a stimulus potential was applied between the pronotum and one side of the optic lobe, or between the ventral nerve cord in the posterior pronotum and the central complex. In-depth experimentation demonstrated the effective of neural stimulation over muscle stimulation for flight control. During electrical stimulation of the optic lobes, the beetle performed unstable flight, resulting in alternating left and right turns. By applying the electrical signal into both the optic lobes and the central complex of the brain, we could precisely control the direction of the beetle flight. This work provides an insight into insect flight behavior for future development of insect-micro air vehicle.
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Affiliation(s)
- Tien Van Truong
- Department of Aerospace Information Engineering, Konkuk University, Seoul 143-701, Korea
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Tsang W, Stone AL, Otten D, Aldworth ZN, Daniel TL, Hildebrand JG, Levine RB, Voldman J. Insect-machine interface: A carbon nanotube-enhanced flexible neural probe. J Neurosci Methods 2012; 204:355-65. [DOI: 10.1016/j.jneumeth.2011.11.026] [Citation(s) in RCA: 26] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/10/2011] [Revised: 11/19/2011] [Accepted: 11/21/2011] [Indexed: 11/16/2022]
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Sato H, Maharbiz MM. Recent developments in the remote radio control of insect flight. Front Neurosci 2010; 4:199. [PMID: 21629761 PMCID: PMC3100638 DOI: 10.3389/fnins.2010.00199] [Citation(s) in RCA: 64] [Impact Index Per Article: 4.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/02/2010] [Accepted: 11/17/2010] [Indexed: 11/13/2022] Open
Abstract
The continuing miniaturization of digital circuits and the development of low
power radio systems coupled with continuing studies into the neurophysiology and
dynamics of insect flight are enabling a new class of implantable interfaces
capable of controlling insects in free flight for extended periods. We provide
context for these developments, review the state-of-the-art and discuss future
directions in this field.
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Affiliation(s)
- Hirotaka Sato
- Department of Electrical Engineering and Computer Science, University of California at Berkeley Berkeley, CA, USA
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Lin HT, Trimmer BA. The substrate as a skeleton: ground reaction forces from a soft-bodied legged animal. J Exp Biol 2010; 213:1133-42. [DOI: 10.1242/jeb.037796] [Citation(s) in RCA: 47] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/20/2022]
Abstract
SUMMARY
The measurement of forces generated during locomotion is essential for the development of accurate mechanical models of animal movements. However, animals that lack a stiff skeleton tend to dissipate locomotor forces in large tissue deformation and most have complex or poorly defined substrate contacts. Under these conditions, measuring propulsive and supportive forces is very difficult. One group that is an exception to this problem is lepidopteran larvae which, despite lacking a rigid skeleton, have well-developed limbs (the prolegs) that can be used for climbing in complex branched structures and on a variety of surfaces. Caterpillars therefore are excellent for examining the relationship between soft body deformation and substrate reaction forces during locomotion. In this study, we devised a method to measure the ground reaction forces (GRFs) at multiple contact points during crawling by the tobacco hornworm (Manduca sexta). Most abdominal prolegs bear similar body weight during their stance phase. Interestingly, forward reaction forces did not come from pushing off the substrate. Instead, most positive reaction forces came from anterior abdominal prolegs loaded in tension while posterior legs produced drag in most instances. The counteracting GRFs effectively stretch the animal axially during the second stage of a crawl cycle. These findings help in understanding how a terrestrial soft-bodied animal can interact with its substrate to control deformation without hydraulic actuation. The results also provide insights into the behavioral and mechanistic constraints leading to the evolution of diverse proleg arrangements in different species of caterpillar.
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Affiliation(s)
- Huai Ti Lin
- Tufts University, 165 Packard Avenue, Medford, MA, USA
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Tsang WM, Stone AL, Aldworth ZN, Hildebrand JG, Daniel TL, Akinwande AI, Voldman J. Flexible split-ring electrode for insect flight biasing using multisite neural stimulation. IEEE Trans Biomed Eng 2010; 57:1757-64. [PMID: 20176539 DOI: 10.1109/tbme.2010.2041778] [Citation(s) in RCA: 38] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Abstract
We describe a flexible multisite microelectrode for insect flight biasing using neural stimulation. The electrode is made of two layers of polyimide (PI) with gold sandwiched in between in a split-ring geometry. The split-ring design in conjunction with the flexibility of the PI allows for a simple insertion process and provides good attachment between the electrode and ventral nerve cord of the insect. Stimulation sites are located at the ends of protruding tips that are circularly distributed inside the split-ring structure. These protruding tips penetrate into the connective tissue surrounding the nerve cord. We have been able to insert the electrode into pupae of the giant sphinx moth Manduca sexta as early as seven days before the adult moth emerges, and we are able to use the multisite electrode to deliver electrical stimuli that evoke multidirectional, graded abdominal motions in both pupae and adult moths. Finally, in loosely tethered flight, we have used stimulation through the flexible microelectrodes to alter the abdominal angle, thus causing the flying moth to deviate to the left or right of its intended path.
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Affiliation(s)
- Wei Mong Tsang
- Research Laboratory of Electronics, Massachusetts Institute of Technology, Cambridge, MA 02139, USA.
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