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Liu Z, Gu Y, Yu L, Yang X, Ma Z, Zhao J, Gu Y. Locomotion Control of Cyborg Insects by Charge-Balanced Biphasic Electrical Stimulation. CYBORG AND BIONIC SYSTEMS 2024; 5:0134. [PMID: 38975251 PMCID: PMC11223913 DOI: 10.34133/cbsystems.0134] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/02/2024] [Accepted: 05/09/2024] [Indexed: 07/09/2024] Open
Abstract
The integration of electronic stimulation devices with insects in the context of cyborg insect systems has great application potential, particularly in the fields of environmental monitoring, urban surveillance, and rescue missions. Despite considerable advantages compared to the current robot technology, including flexibility, durability, and low energy consumption, this integration faces certain challenges related to the potential risk of charge accumulation caused by prolonged and repetitive electrical stimulations. To address these challenges, this study proposes a universal system for remote signal output control using infrared signals. The proposed system integrates high-precision digital-to-analog converters capable of generating customized waveform electrical stimulation signals within defined ranges. This enhances the accuracy of locomotion control in cyborg insects while maintaining real-time control and dynamic parameter adjustment. The proposed system is verified by experiments. The experimental results show that the signals generated by the proposed system have a success rate of over 76.25% in controlling the turning locomotion of cyborg insects, which is higher than previously reported results. In addition, the charge-balanced characteristics of these signals can minimize muscle tissue damage, thus substantially enhancing control repeatability. This study provides a comprehensive solution for the remote control and monitoring of cyborg insects, whose flexibility and adaptability can meet various application and experimental requirements. The results presented in this study lay a robust foundation for further advancement of various technologies, particularly those related to cyborg insect locomotion control systems and wireless control mechanisms for cyborg insects.
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Affiliation(s)
- Zhong Liu
- School of Computing and Artificial Intelligence,
Beijing Technology and Business University, Beijing 100048, China
| | - Yongxia Gu
- School of Computing and Artificial Intelligence,
Beijing Technology and Business University, Beijing 100048, China
| | - Li Yu
- School of Mechanical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Xiang Yang
- School of Computing and Artificial Intelligence,
Beijing Technology and Business University, Beijing 100048, China
| | - Zhiyun Ma
- School of Mechanical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Jieliang Zhao
- School of Mechanical Engineering,
Beijing Institute of Technology, Beijing 100081, China
| | - Yufei Gu
- New York University Abu Dhabi, Abu Dhabi 129188, United Arab Emirates
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Ma Z, Zhao J, Yu L, Yan M, Liang L, Wu X, Xu M, Wang W, Yan S. A Review of Energy Supply for Biomachine Hybrid Robots. CYBORG AND BIONIC SYSTEMS 2023; 4:0053. [PMID: 37766796 PMCID: PMC10521967 DOI: 10.34133/cbsystems.0053] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/28/2023] [Accepted: 09/02/2023] [Indexed: 09/29/2023] Open
Abstract
Biomachine hybrid robots have been proposed for important scenarios, such as wilderness rescue, ecological monitoring, and hazardous area surveying. The energy supply unit used to power the control backpack carried by these robots determines their future development and practical application. Current energy supply devices for control backpacks are mainly chemical batteries. To achieve self-powered devices, researchers have developed solar energy, bioenergy, biothermal energy, and biovibration energy harvesters. This review provides an overview of research in the development of chemical batteries and self-powered devices for biomachine hybrid robots. Various batteries for different biocarriers and the entry points for the design of self-powered devices are outlined in detail. Finally, an overview of the future challenges and possible directions for the development of energy supply devices used to biomachine hybrid robots is provided.
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Affiliation(s)
- Zhiyun Ma
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Jieliang Zhao
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Li Yu
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Mengdan Yan
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Lulu Liang
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Xiangbing Wu
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Mengdi Xu
- Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA
| | - Wenzhong Wang
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, P. R. China
| | - Shaoze Yan
- Department of Mechanical Engineering, Tsinghua University, Beijing 100084, P. R. China
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3
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Owaki D, Dürr V, Schmitz J. A hierarchical model for external electrical control of an insect, accounting for inter-individual variation of muscle force properties. eLife 2023; 12:e85275. [PMID: 37703327 PMCID: PMC10499373 DOI: 10.7554/elife.85275] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/30/2022] [Accepted: 08/29/2023] [Indexed: 09/15/2023] Open
Abstract
Cyborg control of insect movement is promising for developing miniature, high-mobility, and efficient biohybrid robots. However, considering the inter-individual variation of the insect neuromuscular apparatus and its neural control is challenging. We propose a hierarchical model including inter-individual variation of muscle properties of three leg muscles involved in propulsion (retractor coxae), joint stiffness (pro- and retractor coxae), and stance-swing transition (protractor coxae and levator trochanteris) in the stick insect Carausius morosus. To estimate mechanical effects induced by external muscle stimulation, the model is based on the systematic evaluation of joint torques as functions of electrical stimulation parameters. A nearly linear relationship between the stimulus burst duration and generated torque was observed. This stimulus-torque characteristic holds for burst durations of up to 500ms, corresponding to the stance and swing phase durations of medium to fast walking stick insects. Hierarchical Bayesian modeling revealed that linearity of the stimulus-torque characteristic was invariant, with individually varying slopes. Individual prediction of joint torques provides significant benefits for precise cyborg control.
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Affiliation(s)
- Dai Owaki
- Department of Robotics, Graduate School of Engineering, Tohoku UniversitySendaiJapan
| | - Volker Dürr
- Department of Biological Cybernetics, Faculty of Biology, Bielefeld UniversityBielefeldGermany
- Centre for Cognitive Interaction Technology, Bielefeld UniversityBielefeldGermany
| | - Josef Schmitz
- Department of Biological Cybernetics, Faculty of Biology, Bielefeld UniversityBielefeldGermany
- Centre for Cognitive Interaction Technology, Bielefeld UniversityBielefeldGermany
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Fang K, Mei H, Tang Y, Wang W, Wang H, Wang Z, Dai Z. Grade-control outdoor turning flight of robo-pigeon with quantitative stimulus parameters. Front Neurorobot 2023; 17:1143601. [PMID: 37139263 PMCID: PMC10149694 DOI: 10.3389/fnbot.2023.1143601] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/13/2023] [Accepted: 03/29/2023] [Indexed: 05/05/2023] Open
Abstract
Introduction The robo-pigeon using homing pigeons as a motion carrier has great potential in search and rescue operations due to its superior weight-bearing capacity and sustained flight capabilities. However, before deploying such robo-pigeons, it is necessary to establish a safe, stable, and long-term effective neuro-electrical stimulation interface and quantify the motion responses to various stimuli. Methods In this study, we investigated the effects of stimulation variables such as stimulation frequency (SF), stimulation duration (SD), and inter-stimulus interval (ISI) on the turning flight control of robo-pigeons outdoors, and evaluated the efficiency and accuracy of turning flight behavior accordingly. Results The results showed that the turning angle can be significantly controlled by appropriately increasing SF and SD. Increasing ISI can significantly control the turning radius of robotic pigeons. The success rate of turning flight control decreases significantly when the stimulation parameters exceed SF > 100 Hz or SD > 5 s. Thus, the robo-pigeon's turning angle from 15 to 55° and turning radius from 25 to 135 m could be controlled in a graded manner by selecting varying stimulus variables. Discussion These findings can be used to optimize the stimulation strategy of robo-pigeons to achieve precise control of their turning flight behavior outdoors. The results also suggest that robo-pigeons have potential for use in search and rescue operations where precise control of flight behavior is required.
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Affiliation(s)
- Ke Fang
- Institute of Bio-Inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China
| | - Hao Mei
- Institute of Bio-Inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China
| | - Yezhong Tang
- Institute of Bio-Inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China
- Chengdu Institute of Biology, Chinese Academy of Sciences, Chengdu, Sichuan, China
| | - Wenbo Wang
- Institute of Bio-Inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China
| | - Hao Wang
- Institute of Bio-Inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China
- Hao Wang
| | - Zhouyi Wang
- Institute of Bio-Inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China
- *Correspondence: Zhouyi Wang
| | - Zhendong Dai
- Institute of Bio-Inspired Structure and Surface Engineering, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China
- Zhendong Dai
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Luo J, Sun C, Chang B, Jing Y, Li K, Li Y, Zhang Q, Wang H, Hou C. MXene-Enabled Self-Adaptive Hydrogel Interface for Active Electroencephalogram Interactions. ACS NANO 2022; 16:19373-19384. [PMID: 36279105 DOI: 10.1021/acsnano.2c08961] [Citation(s) in RCA: 15] [Impact Index Per Article: 7.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Abstract
Human-machine interaction plays a significant role in promoting convenience, production efficiency, and usage experience. Because of the universality and characteristics of electroencephalogram (EEG) signals, active EEG interaction is a promising and cutting-edge method for human-machine interaction. The seamless, skin-compliant, and motion-robust human-machine interface (HMI) for active EEG interaction has been in focus. Herein, we report a self-adaptive HMI (PAAS-MXene hydrogel) that can activate rapid gelation (5 s) using MXene cross-linking and conformably self-adapt to the scalp to help improve signal transduction. In addition to exhibiting satisfactory skin compliance, appropriate adhesion, and good biocompatibility, PAAS-MXene has demonstrated electrical performance reliability, such as low impedance (<50 Ω) at physiologically relevant frequencies, stable polarization potential (the rate of change is less than 6.5 × 10-4 V/min), negligible ion conductivity, and impedance change after 1000 stretch cycles, thereby realizing acquisition of EEG signals. In addition, a cap-free EEG signal acquisition method based on PAAS-MXene has been proposed. These findings confirm the high-precision detection ability of PAAS-MXene for electrocardiogram signals and EEG signals. Therefore, PAAS-MXene offers an option to actively control intention, motion, and vision through active EEG signals.
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Affiliation(s)
- Jiabei Luo
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620, People's Republis of China
| | - Chuanyue Sun
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620, People's Republis of China
| | - Boya Chang
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620, People's Republis of China
| | - Yangmin Jing
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620, People's Republis of China
| | - Kerui Li
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620, People's Republis of China
| | - Yaogang Li
- Engineering Research Center of Advanced Glasses Manufacturing Technology, Ministry of Education, Donghua University, Shanghai 201620, People's Republis of China
| | - Qinghong Zhang
- Engineering Research Center of Advanced Glasses Manufacturing Technology, Ministry of Education, Donghua University, Shanghai 201620, People's Republis of China
| | - Hongzhi Wang
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620, People's Republis of China
| | - Chengyi Hou
- State Key Laboratory for Modification of Chemical Fibers and Polymer Materials, College of Materials Science and Engineering, Donghua University, Shanghai 201620, People's Republis of China
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Vo-Doan TT, Dung VT, Sato H. A Cyborg Insect Reveals a Function of a Muscle in Free Flight. CYBORG AND BIONIC SYSTEMS 2022; 2022:9780504. [PMID: 36285304 PMCID: PMC9494732 DOI: 10.34133/2022/9780504] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/18/2022] [Accepted: 03/21/2022] [Indexed: 11/29/2022] Open
Abstract
While engineers put lots of effort, resources, and time in building insect scale micro aerial vehicles (MAVs) that fly like insects, insects themselves are the real masters of flight. What if we would use living insect as platform for MAV instead? Here, we reported a flight control via electrical stimulation of a flight muscle of an insect-computer hybrid robot, which is the interface of a mountable wireless backpack controller and a living beetle. The beetle uses indirect flight muscles to drive wing flapping and three major direct flight muscles (basalar, subalar, and third axilliary (3Ax) muscles) to control the kinematics of the wings for flight maneuver. While turning control was already achieved by stimulating basalar and 3Ax muscles, electrical stimulation of subalar muscles resulted in braking and elevation control in flight. We also demonstrated around 20 degrees of contralateral yaw and roll by stimulating individual subalar muscle. Stimulating both subalar muscles lead to an increase of 20 degrees in pitch and decelerate the flight by 1.5 m/s2 as well as an induce in elevation of 2 m/s2.
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Affiliation(s)
- T. Thang Vo-Doan
- Nanyang Technological University, School of Mechanical and Aerospace Engineering, Singapore
- University of Freiburg, Institute of Biology I, Germany
| | - V. Than Dung
- Nanyang Technological University, School of Mechanical and Aerospace Engineering, Singapore
| | - Hirotaka Sato
- Nanyang Technological University, School of Mechanical and Aerospace Engineering, Singapore
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7
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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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8
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Ding H, Zhao J, Yan S. Behavioral control and changes in brain activity of honeybee during flapping. Brain Behav 2021; 11:e2426. [PMID: 34807528 PMCID: PMC8671781 DOI: 10.1002/brb3.2426] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 04/27/2021] [Revised: 09/08/2021] [Accepted: 10/27/2021] [Indexed: 11/11/2022] Open
Abstract
INTRODUCTION Insect cyborg is a kind of novel robot based on insect-machine interface and principles of neurobiology. The key idea is to stimulate live insects by specific stimuli; thus, the flight trajectory of insects could be controlled as anticipated. However, the neuroregulatory mechanism of insect flight has not been elucidated completely at present. METHODS To explore the neuro-mechanism of insect flight behaviors, a series of electrical stimulation was applied on the optic lobes of semi-constrained honeybees. Times of flight initiation, flapping frequency, and duration were recorded by a high-speed camera. In addition, flapping and steering initiation experiments of the cyborg honeybee were verified. Moreover, series of local field potential signals of optic lobes during flapping were collected, pre-processed to remove baseline wander and DC components, then analyzed by power spectrum estimation. RESULTS A quantitative optimization method and optimal stimulation parameters of flight initiation were presented. Stimulation results showed that the flapping duration differed greatly while the flapping frequency varied with little difference among different individuals. Moreover, there was always a fluctuation peak around 20-30 Hz in power spectral density (PSD) curves during flapping, distinguishing from calm state, which indicated some brain activity changes during flapping. CONCLUSIONS Our study presented a range of relatively optimal electrical parameters to initiate honeybee flight behavior. Meanwhile, the regularity of flapping duration and flapping frequency under electrical stimulations with different parameters were given. The feasibility of controlling a honeybee's flight behavior by brain electrical stimulation was verified through the flapping and steering initiation experiment of honeybees under semi-constrained state. PSD fluctuations reflected changes in brain activity during flapping and that those fluctuation characteristics at the specific frequency band could be sensitive determinants to distinguish whether the honeybee was flying or not, which benefits our understanding of honeybee's flapping behavior and furthers the study of honeybee cyborgs.
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Affiliation(s)
- Haojia Ding
- Division of Intelligent and Biomechanical Systems, State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, China
| | - Jieliang Zhao
- School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China
| | - Shaoze Yan
- Division of Intelligent and Biomechanical Systems, State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, China
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10
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Joseph A, Rajendran A, Karthikeyan A, Nair BG. Implantable Microfluidic Device: An Epoch of Technology. Curr Pharm Des 2021; 28:679-689. [PMID: 34525928 DOI: 10.2174/1381612827666210825114403] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/02/2020] [Accepted: 05/28/2021] [Indexed: 11/22/2022]
Abstract
Implantable microfluidic devices are milestones in developing devices that can either measure parameters like ocular pressure and blood glucose level or deliver various components for therapeutic needs or behavioral modification. Researchers are currently focusing on the miniaturization of almost all its tools for a better healthcare platform. Implantable microfluidic devices are a combination of various systems including, but not limited to, microfluidic platforms, reservoirs, sensors, and actuators, implanted inside the body of a living entity (in vivo) with the purpose of directly or indirectly helping the entity. It is a multidisciplinary approach with immense potential in the area of the biomedical field. Significant resources are utilizing on for the research and development of these devices for various applications. The induction of an implantable microfluidic device into an animal would enable us to measure the responses without any repeated invasive procedures. Such data would help in the development of a better drug delivery profile. Implantable microfluidic devices with reservoirs deliver specific chemical or biological products to treat situations like cancers and diabetes. They can also deliver fluorophores for specific imaging inside the body. Implantable microfluidic devices help provide a microenvironment for various cell differentiation procedure. These devices know no boundaries, and this article reviews these devices based on their design and applications.
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Affiliation(s)
- Abey Joseph
- School of Biotechnology, National Institute of Technology, Calicut, Kerala, India; b Institute of Advanced Energy, Kyoto University; c RIKEN, Nanomedical Engineering Laboratory. Japan
| | - Arivazhagan Rajendran
- School of Biotechnology, National Institute of Technology, Calicut, Kerala, India; b Institute of Advanced Energy, Kyoto University; c RIKEN, Nanomedical Engineering Laboratory. Japan
| | - Akash Karthikeyan
- School of Biotechnology, National Institute of Technology, Calicut, Kerala, India; b Institute of Advanced Energy, Kyoto University; c RIKEN, Nanomedical Engineering Laboratory. Japan
| | - Baiju G Nair
- School of Biotechnology, National Institute of Technology, Calicut, Kerala, India; b Institute of Advanced Energy, Kyoto University; c RIKEN, Nanomedical Engineering Laboratory. Japan
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Kumar A, Tomar H, Mehla VK, Komaragiri R, Kumar M. Stationary wavelet transform based ECG signal denoising method. ISA TRANSACTIONS 2021; 114:251-262. [PMID: 33419569 DOI: 10.1016/j.isatra.2020.12.029] [Citation(s) in RCA: 41] [Impact Index Per Article: 13.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/13/2020] [Revised: 12/12/2020] [Accepted: 12/12/2020] [Indexed: 06/12/2023]
Abstract
Electrocardiogram (ECG) signals are used to diagnose cardiovascular diseases. During ECG signal acquisition, various noises like power line interference, baseline wandering, motion artifacts, and electromyogram noise corrupt the ECG signal. As an ECG signal is non-stationary, removing these noises from the recorded ECG signal is quite tricky. In this paper, along with the proposed denoising technique using stationary wavelet transform, various denoising techniques like lowpass filtering, highpass filtering, empirical mode decomposition, Fourier decomposition method, discrete wavelet transform are studied to denoise an ECG signal corrupted with noise. Signal-to-noise ratio, percentage root-mean-square difference, and root mean square error are used to compare the ECG signal denoising performance. The experimental result showed that the proposed stationary wavelet transform based ECG denoising technique outperformed the other ECG denoising techniques as more ECG signal components are preserved than other denoising algorithms.
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Affiliation(s)
- Ashish Kumar
- School of Electronics Engineering, Vellore Institute of Technology, Chennai, Tamil Nadu 600127, India.
| | - Harshit Tomar
- Department of Electronics and Communication Engineering, Bennett University, Greater Noida, Uttar Pradesh 201310, India.
| | - Virender Kumar Mehla
- Department of Electronics and Communication Engineering, Bennett University, Greater Noida, Uttar Pradesh 201310, India.
| | - Rama Komaragiri
- Department of Electronics and Communication Engineering, Bennett University, Greater Noida, Uttar Pradesh 201310, India.
| | - Manjeet Kumar
- Department of Electronics and Communication Engineering, Delhi Technological University (DTU), Rohini, Delhi 110042, India.
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Le DL, Tnee CK, Vo Doan TT, Arai S, Suzuki M, Sou K, Sato H. Neurotransmitter-Loaded Nanocapsule Triggers On-Demand Muscle Relaxation in Living Organism. ACS APPLIED MATERIALS & INTERFACES 2018; 10:37812-37819. [PMID: 30372017 DOI: 10.1021/acsami.8b11079] [Citation(s) in RCA: 11] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/08/2023]
Abstract
This paper reports the on-demand artificial muscle relaxation using a thermosensitive liposome encapsulating γ-aminobutyric acid (GABA) inhibitory neurotransmitter. Muscle relaxation is not feasible in principle, although muscle contraction can be easily induced by electrical stimulation. Herein, thermosensitive liposomes (phase transition temperature = 40 °C) were synthesized to encapsulate GABA and were injected into a leg of a living beetle. The leg was wrapped around by a Ni-Cr wire heater integrated with a thermocouple to enable the feedback control and to manipulate the leg temperature. The injected leg was temporarily immobilized by heating it up to 45 °C. The leg did not swing even by electrically stimulating the leg muscle. Subsequently, the leg recovered to swing. The result indicates that GABA was released from liposomes and fed to the leg muscle, enabling temporal muscle relaxation.
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Affiliation(s)
- Duc Long Le
- School of Mechanical & Aerospace Engineering , Nanyang Technological University 50 Nanyang Avenue , 639798 , Singapore
| | - Chin Kiat Tnee
- School of Mechanical & Aerospace Engineering , Nanyang Technological University 50 Nanyang Avenue , 639798 , Singapore
| | - T Thang Vo Doan
- School of Mechanical & Aerospace Engineering , Nanyang Technological University 50 Nanyang Avenue , 639798 , Singapore
| | - Satoshi Arai
- Research Institute for Science and Engineering , Waseda University , 3-4-1 Ohkubo , Shinjuku, Tokyo 169-8555 , Japan
- PRIME, Japan Agency for Medical Research and Development , Tokyo 100-0004 , Japan
| | - Madoka Suzuki
- Research Institute for Science and Engineering , Waseda University , 3-4-1 Ohkubo , Shinjuku, Tokyo 169-8555 , Japan
- PRESTO, Japan Science and Technology Agency , 4-1-8 Honcho , Kawaguchi, Saitama 332-0012 , Japan
- Institute for Protein Research , Osaka University , 3-2 Yamadaoka , Suita, Osaka 565-0871 , Japan
| | - Keitaro Sou
- Waseda Bioscience Research Institute in Singapore (WABIOS) , 11 Biopolis Way , 138667 , Singapore
- Organization for University Research Initiatives , Waseda University , 513 Waseda Tsurumaki-cho , Shinjuku, Tokyo 162-0041 , Japan
| | - Hirotaka Sato
- School of Mechanical & Aerospace Engineering , Nanyang Technological University 50 Nanyang Avenue , 639798 , Singapore
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Abstract
An insect–computer hybrid robot, often referred to as a biological machine or an insect cyborg, is the fusion of a living insect platform and artificial microdevices, including stimulators, sensors, and computers. When compared with the artificial robots, a hybrid robot can be operated as an autonomous mobile machine with low energy consumption and hardware costs. A hybrid machine can verify various biological hypotheses, such as function determination, by stimulating a muscle or any other structure.
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Affiliation(s)
- Yao Li
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore
| | - Hirotaka Sato
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, 50 Nanyang Avenue, Singapore 639798, Singapore
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14
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Latif T, Lobaton E, Bozkurt A. Preliminary statistical assessment towards characterization of biobotic control. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2017; 2016:2184-2187. [PMID: 28268764 DOI: 10.1109/embc.2016.7591162] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Biobotic research involving neurostimulation of instrumented insects to control their locomotion is finding potential as an alternative solution towards development of centimeter-scale distributed swarm robotics. To improve the reliability of biobotic agents, their control mechanism needs to be precisely characterized. To achieve this goal, this paper presents our initial efforts for statistical assessment of the angular response of roach biobots to the applied bioelectrical stimulus. Subsequent findings can help to understand the effect of each stimulation parameter individually or collectively and eventually reach reliable and consistent biobotic control suitable for real life scenarios.
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15
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Wu Z, Zheng N, Zhang S, Zheng X, Gao L, Su L. Maze learning by a hybrid brain-computer system. Sci Rep 2016; 6:31746. [PMID: 27619326 PMCID: PMC5020320 DOI: 10.1038/srep31746] [Citation(s) in RCA: 14] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/17/2016] [Accepted: 07/26/2016] [Indexed: 11/09/2022] Open
Abstract
The combination of biological and artificial intelligence is particularly driven by two major strands of research: one involves the control of mechanical, usually prosthetic, devices by conscious biological subjects, whereas the other involves the control of animal behaviour by stimulating nervous systems electrically or optically. However, to our knowledge, no study has demonstrated that spatial learning in a computer-based system can affect the learning and decision making behaviour of the biological component, namely a rat, when these two types of intelligence are wired together to form a new intelligent entity. Here, we show how rule operations conducted by computing components contribute to a novel hybrid brain-computer system, i.e., ratbots, exhibit superior learning abilities in a maze learning task, even when their vision and whisker sensation were blocked. We anticipate that our study will encourage other researchers to investigate combinations of various rule operations and other artificial intelligence algorithms with the learning and memory processes of organic brains to develop more powerful cyborg intelligence systems. Our results potentially have profound implications for a variety of applications in intelligent systems and neural rehabilitation.
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Affiliation(s)
- Zhaohui Wu
- College of Computer Science and Technology, Zhejiang University, China
| | - Nenggan Zheng
- Qiushi Academy for Advanced Studies, Zhejiang University, China
| | - Shaowu Zhang
- Research School of Biology, the Australian National University, Australia
| | - Xiaoxiang Zheng
- Qiushi Academy for Advanced Studies, Zhejiang University, China.,Department of Biomedical Engineering, Zhejiang University, China
| | - Liqiang Gao
- College of Computer Science and Technology, Zhejiang University, China.,Qiushi Academy for Advanced Studies, Zhejiang University, China
| | - Lijuan Su
- College of Computer Science and Technology, Zhejiang University, China
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16
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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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17
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Whitmire E, Latif T, Bozkurt A. Kinect-based system for automated control of 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 2015; 2013:1470-3. [PMID: 24109976 DOI: 10.1109/embc.2013.6609789] [Citation(s) in RCA: 14] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Centimeter scale mobile biobots offer unique advantages in uncertain environments. Our previous experimentation has demonstrated neural stimulation techniques in order to control the motion of Madagascar hissing cockroaches. These trials relied on stimulation by a human operator using a remote control. We have developed a Kinect-based system for computer operated automatic control of cockroaches. Using image processing techniques and a radio transmitter, this platform both detects the position of the roach biobot and sends stimulation commands to an implanted microcontroller-based receiver. The work presented here enables repeatable experimentation and allows precise quantification of the line following capabilities of the roach biobot. This system will help refine our model for the stimulation response of the insect and improve our ability to direct them in increasingly dynamic situations.
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18
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Sato H, Vo Doan T, Kolev S, Huynh N, Zhang C, Massey T, van Kleef J, Ikeda K, Abbeel P, Maharbiz M. Deciphering the Role of a Coleopteran Steering Muscle via Free Flight Stimulation. Curr Biol 2015; 25:798-803. [DOI: 10.1016/j.cub.2015.01.051] [Citation(s) in RCA: 29] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/24/2014] [Revised: 12/03/2014] [Accepted: 01/21/2015] [Indexed: 10/23/2022]
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19
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Oral dosing of chemical indicators for in vivo monitoring of Ca2+ dynamics in insect muscle. PLoS One 2015; 10:e0116655. [PMID: 25590329 PMCID: PMC4295878 DOI: 10.1371/journal.pone.0116655] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/06/2014] [Accepted: 12/04/2014] [Indexed: 12/02/2022] Open
Abstract
This paper proposes a remarkably facile staining protocol to visually investigate dynamic physiological events in insect tissues. We attempted to monitor Ca2+ dynamics during contraction of electrically stimulated living muscle. Advances in circuit miniaturization and insect neuromuscular physiology have enabled the hybridization of living insects and man-made electronic components, such as microcomputers, the result of which has been often referred as a Living Machine, Biohybrid, or Cyborg Insect. In order for Cyborg Insects to be of practical use, electrical stimulation parameters need to be optimized to induce desired muscle response (motor action) and minimize the damage in the muscle due to the electrical stimuli. Staining tissues and organs as well as measuring the dynamics of chemicals of interest in muscle should be conducted to quantitatively and systematically evaluate the effect of various stimulation parameters on the muscle response. However, existing staining processes require invasive surgery and/or arduous procedures using genetically encoded sensors. In this study, we developed a non-invasive and remarkably facile method for staining, in which chemical indicators can be orally administered (oral dosing). A chemical Ca2+ indicator was orally introduced into an insect of interest via food containing the chemical indicator and the indicator diffused from the insect digestion system to the target muscle tissue. We found that there was a positive relationship between the fluorescence intensity of the indicator and the frequency of electrical stimulation which indicates the orally dosed indicator successfully monitored Ca2+ dynamics in the muscle tissue. This oral dosing method has a potential to globally stain tissues including neurons, and investigating various physiological events in insects.
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20
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Verderber A, McKnight M, Bozkurt A. Early metamorphic insertion technology for insect flight behavior monitoring. J Vis Exp 2014. [PMID: 25079130 DOI: 10.3791/50901] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/31/2022] Open
Abstract
Early Metamorphosis Insertion Technology (EMIT) is a novel methodology for integrating microfabricated neuromuscular recording and actuation platforms on insects during their metamorphic development. Here, the implants are fused within the structure and function of the neuromuscular system as a result of metamorphic tissue remaking. The implants emerge with the insect where the development of tissue around the electronics during pupal development results in a bioelectrically and biomechanically enhanced tissue interface. This relatively more reliable and stable interface would be beneficial for many researchers exploring the neural basis of the insect locomotion with alleviated traumatic effects caused during adult stage insertions. In this article, we implant our electrodes into the indirect flight muscles of Manduca sexta. Located in the dorsal-thorax, these main flight powering dorsoventral and dorsolongitudinal muscles actuate the wings and supply the mechanical power for up and down strokes. Relative contraction of these two muscle groups has been under investigation to explore how the yaw maneuver is neurophysiologically coordinated. To characterize the flight dynamics, insects are often tethered with wires and their flight is recorded with digital cameras. We also developed a novel way to tether Manduca sexta on a magnetically levitating frame where the insect is connected to a commercially available wireless neural amplifier. This set up can be used to limit the degree of freedom to yawing "only" while transmitting the related electromyography signals from dorsoventral and dorsolongitudinal muscle groups.
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Affiliation(s)
- Alexander Verderber
- Department of Electrical and Computer Engineering, North Carolina State University
| | - Michael McKnight
- Department of Electrical and Computer Engineering, North Carolina State University
| | - Alper Bozkurt
- Department of Electrical and Computer Engineering, North Carolina State University;
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21
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Latif T, Whitmire E, Novak T, Bozkurt A. Towards fenceless boundaries for solar powered insect biobots. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2014; 2014:1670-1673. [PMID: 25570295 DOI: 10.1109/embc.2014.6943927] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/04/2023]
Abstract
Demonstration of remote navigation with instrumented insects, such as the Madagascar Hissing Cockroach, Gromphadorhina portentosa, has enabled the concept of biobotic agents for search and rescue missions and environmental monitoring applications. The biobots can form the nodes of a mobile sensor network to be established, for example, in unknown and dynamic environments after natural disasters to pinpoint surviving victims. We demonstrate here, for the first time, the concept of an invisible fence for insect biobots with an ultimate goal of keeping insect biobots within a certain distance of each other or a base station to ensure a reliable wireless network. For extended mission durations, this fenceless boundary would also be used to guide insects towards light sources for autonomous solar charging of their on-board batteries.
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22
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Brugarolas R, Roberts D, Sherman B, Bozkurt A. Posture estimation for a canine machine interface based training system. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2013; 2012:4489-92. [PMID: 23366925 DOI: 10.1109/embc.2012.6346964] [Citation(s) in RCA: 16] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
Dogs and humans have worked in partnership throughout history thanks to dogs' unique capability of detecting signals in human voices or gestures and learning from human inputs. Traditional canine training methods rely solely on subjective visual observations made by trainers. We propose a canine body-area-network (cBAN) to incorporate context-aware sensing with objective detection algorithms to augment the sensitivity and specificity of human trainer's awareness of the dogs they are training. As an initial effort, we developed a Bluetooth-based wireless infrastructure and tested inertial measurement units as cBAN sensor nodes to electronically assess the posture of the dogs. As a result, we were able to optimize the sensor locations and distinguish different postures using the distinct patterns in the measured angles.
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Affiliation(s)
- Rita Brugarolas
- Department of Electrical and Computer Engineering at North Carolina State University, Raleigh, NC 27606, USA
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23
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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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24
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Verderber A, McKnight M, Bozkurt A. Electromagnetic levitation platform for wireless study of insect flight neurophysiology. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2013; 2013:1720-1723. [PMID: 24110038 DOI: 10.1109/embc.2013.6609851] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/02/2023]
Abstract
An electromagnetic levitation platform for use in a light emitting diode (LED) arena based virtual reality environment was developed for wireless recording of neural and neuromuscular signals from the flight related muscle groups in Manduca sexta. The platform incorporates the use of Early Metamorphosis Insertion Technology to implant recording electrodes into the flight muscles of late stage pupal moths. Analysis of the insects' response to changes in the LED arena rotation direction indicate that this setup could be used to perform a variety of flight behavior studies during yaw maneuvers.
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25
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Springthorpe D, Fernández MJ, Hedrick TL. Neuromuscular control of free-flight yaw turns in the hawkmoth Manduca sexta. ACTA ACUST UNITED AC 2012; 215:1766-74. [PMID: 22539744 DOI: 10.1242/jeb.067355] [Citation(s) in RCA: 40] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/20/2022]
Abstract
The biomechanical properties of an animal's locomotor structures profoundly influence the relationship between neuromuscular inputs and body movements. In particular, passive stability properties are of interest as they may offer a non-neural mechanism for simplifying control of locomotion. Here, we hypothesized that a passive stability property of animal flight, flapping counter-torque (FCT), allows hawkmoths to control planar yaw turns in a damping-dominated framework that makes rotational velocity directly proportional to neuromuscular activity. This contrasts with a more familiar inertia-dominated framework where acceleration is proportional to force and neuromuscular activity. To test our hypothesis, we collected flight muscle activation timing, yaw velocity and acceleration data from freely flying hawkmoths engaged in planar yaw turns. Statistical models built from these data then allowed us to infer the degree to which the moths inhabit either damping- or inertia-dominated control domains. Contrary to our hypothesis, a combined model corresponding to inertia-dominated control of yaw but including substantial damping effects best linked the neuromuscular and kinematic data. This result shows the importance of including passive stability properties in neuromechanical models of flight control and reveals possible trade-offs between manoeuvrability and stability derived from damping.
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Affiliation(s)
- Dwight Springthorpe
- Department of Integrative Biology, University of California, Berkeley, Berkeley, CA 94720, USA
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26
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Bozkurt A, Gilmour RF, Lal A. In Vivo Electrochemical Characterization of a Tissue–Electrode Interface During Metamorphic Growth. IEEE Trans Biomed Eng 2011; 58. [DOI: 10.1109/tbme.2011.2158822] [Citation(s) in RCA: 9] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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27
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Bozkurt A, Gilmour R, Lal A. Bioelectrical enhancement in tissue-electrode coupling with metamorphic-stage insertions for insect machine interfaces. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2011; 2011:5420-5423. [PMID: 22255563 DOI: 10.1109/iembs.2011.6091340] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/31/2023]
Abstract
Implanting microtechnologies into insects with an aim of domesticating its locomotion poses certain challenges, however, performing surgical implantation during the early stages of metamorphic growth was shown to mitigate some of the related detriments. This study reports the bioelectrical enhancement at the tissue-electrode interface allowed with these metamorphic stage insertions, where the electrodes implanted in the insect during the early pupal stages and right after emergence were compared. An average 1 kHz impedance of 8.9 kΩ was obtained with pupal stage inserted electrodes, ten days after the emergence, as compared to 12.1 kΩ observed when electrodes were implanted in the adult state. Charge storage capacity also increased to 52 mC/cm(2) from 38 mC/cm(2) with the early metamorphic insertions. The performed voltage excursion studies also confirmed the enhancement demonstrating an increase from 3.5 mC/cm(2) to 5.1 mC/cm(2) in the injectable amount of charge in the water window.
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Affiliation(s)
- Alper Bozkurt
- Department of Electrical and Computer Engineering, North Carolina State University, Raleigh, NC 27695-7911, USA.
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28
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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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