1
|
Koike CC, Viana DM, Yudi J, Batista FA, Costa A, Carvalho V, Rocha T. Visual-Aided Obstacle Climbing by Modular Snake Robot. SENSORS (BASEL, SWITZERLAND) 2024; 24:4424. [PMID: 39001203 PMCID: PMC11244594 DOI: 10.3390/s24134424] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/01/2024] [Revised: 06/04/2024] [Accepted: 06/11/2024] [Indexed: 07/16/2024]
Abstract
Snake robots, also known as apodal robots, are among the most common and versatile modular robots. Primarily due to their ability to move in different patterns, they can evolve in scenarios with several constraints, some of them hardly accessible to other robot configurations. This paper deals with a specific environment constraint where the robot needs to climb a prismatic obstacle, similar to a step. The objective is to carry out simulations of this function, before implementing it in the physical model. To this end, we propose two different algorithms, parameterized by the obstacle dimensions determined by image processing, and both are evaluated in simulated experiments. The results show that both algorithms are viable for testing in real robots, although more complex scenarios still need to be further studied.
Collapse
Affiliation(s)
| | - Dianne Magalhães Viana
- Department of Mechanical Engineering, University of Brasília, Brasília 70910-900, Brazil; (D.M.V.); (J.Y.); (V.C.); (T.R.)
| | - Jones Yudi
- Department of Mechanical Engineering, University of Brasília, Brasília 70910-900, Brazil; (D.M.V.); (J.Y.); (V.C.); (T.R.)
| | - Filipe Aziz Batista
- Mechatronics Graduate Programme, University of Brasília, Brasília 70910-900, Brazil; (F.A.B.); (A.C.)
| | - Arthur Costa
- Mechatronics Graduate Programme, University of Brasília, Brasília 70910-900, Brazil; (F.A.B.); (A.C.)
| | - Vinícius Carvalho
- Department of Mechanical Engineering, University of Brasília, Brasília 70910-900, Brazil; (D.M.V.); (J.Y.); (V.C.); (T.R.)
| | - Thiago Rocha
- Department of Mechanical Engineering, University of Brasília, Brasília 70910-900, Brazil; (D.M.V.); (J.Y.); (V.C.); (T.R.)
| |
Collapse
|
2
|
Morasso P. Neural Simulation of Actions for Serpentine Robots. Biomimetics (Basel) 2024; 9:416. [PMID: 39056857 PMCID: PMC11274536 DOI: 10.3390/biomimetics9070416] [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: 06/03/2024] [Revised: 06/28/2024] [Accepted: 07/04/2024] [Indexed: 07/28/2024] Open
Abstract
The neural or mental simulation of actions is a powerful tool for allowing cognitive agents to develop Prospection Capabilities that are crucial for learning and memorizing key aspects of challenging skills. In previous studies, we developed an approach based on the animation of the redundant human body schema, based on the Passive Motion Paradigm (PMP). In this paper, we show that this approach can be easily extended to hyper-redundant serpentine robots as well as to hybrid configurations where the serpentine robot is functionally integrated with a traditional skeletal infrastructure. A simulation model is analyzed in detail, showing that it incorporates spatio-temporal features discovered in the biomechanical studies of biological hydrostats, such as the elephant trunk or octopus tentacles. It is proposed that such a generative internal model could be the basis for a cognitive architecture appropriate for serpentine robots, independent of the underlying design and control technologies. Although robotic hydrostats have received a lot of attention in recent decades, the great majority of research activities have been focused on the actuation/sensorial/material technologies that can support the design of hyper-redundant soft/serpentine robots, as well as the related control methodologies. The cognitive level of analysis has been limited to motion planning, without addressing synergy formation and mental time travel. This is what this paper is focused on.
Collapse
Affiliation(s)
- Pietro Morasso
- Center for Human Technologies Robotics, Brain and Cognitive Sciences Department, Italian Institute of Technology, Via Enrico Melen 83, Bldg B, 16152 Genoa, Italy
| |
Collapse
|
3
|
Cortez R, Sandoval-Chileño MA, Lozada-Castillo N, Luviano-Juárez A. Snake Robot with Motion Based on Shape Memory Alloy Spring-Shaped Actuators. Biomimetics (Basel) 2024; 9:180. [PMID: 38534865 DOI: 10.3390/biomimetics9030180] [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: 01/10/2024] [Revised: 02/28/2024] [Accepted: 03/14/2024] [Indexed: 03/28/2024] Open
Abstract
This study presents the design and evaluation of a prototype snake-like robot that possesses an actuation system based on shape memory alloys (SMAs). The device is constructed based on a modular structure of links connected by two degrees of freedom links utilizing Cardan joints, where each degree of freedom is actuated by an agonist-antagonist mechanism using the SMA spring-shaped actuators to generate motion, which can be easily replaced once they reach a degradation point. The methodology for programming the spring shape into the SMA material is described in this work, as well as the instrumentation required for the monitoring and control of the actuators. A simplified design is presented to describe the way in which the motion is performed and the technical difficulties faced in manufacturing. Based on this information, the way in which the design is adapted to generate a feasible robotic system is described, and a mathematical model for the robot is developed to implement an independent joint controller. The feasibility of the implementation of the SMA actuators regarding the motion of the links is verified for the case of a joint, and the change in the shape of the snake robot is verified through the implementation of a set of tracking references based on a central pattern generator. The generated tracking results confirm the feasibility of the proposed mechanism in terms of performing snake gaits, as well as highlighting some of the drawbacks that should be considered in further studies.
Collapse
Affiliation(s)
- Ricardo Cortez
- Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Mexico City 07340, Mexico
| | | | - Norma Lozada-Castillo
- Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Mexico City 07340, Mexico
| | - Alberto Luviano-Juárez
- Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Mexico City 07340, Mexico
| |
Collapse
|
4
|
Harun-Ur-Rashid M, Jahan I, Foyez T, Imran AB. Bio-Inspired Nanomaterials for Micro/Nanodevices: A New Era in Biomedical Applications. MICROMACHINES 2023; 14:1786. [PMID: 37763949 PMCID: PMC10536921 DOI: 10.3390/mi14091786] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/21/2023] [Revised: 09/14/2023] [Accepted: 09/16/2023] [Indexed: 09/29/2023]
Abstract
Exploring bio-inspired nanomaterials (BINMs) and incorporating them into micro/nanodevices represent a significant development in biomedical applications. Nanomaterials, engineered to imitate biological structures and processes, exhibit distinctive attributes such as exceptional biocompatibility, multifunctionality, and unparalleled versatility. The utilization of BINMs demonstrates significant potential in diverse domains of biomedical micro/nanodevices, encompassing biosensors, targeted drug delivery systems, and advanced tissue engineering constructs. This article thoroughly examines the development and distinctive attributes of various BINMs, including those originating from proteins, DNA, and biomimetic polymers. Significant attention is directed toward incorporating these entities into micro/nanodevices and the subsequent biomedical ramifications that arise. This review explores biomimicry's structure-function correlations. Synthesis mosaics include bioprocesses, biomolecules, and natural structures. These nanomaterials' interfaces use biomimetic functionalization and geometric adaptations, transforming drug delivery, nanobiosensing, bio-inspired organ-on-chip systems, cancer-on-chip models, wound healing dressing mats, and antimicrobial surfaces. It provides an in-depth analysis of the existing challenges and proposes prospective strategies to improve the efficiency, performance, and reliability of these devices. Furthermore, this study offers a forward-thinking viewpoint highlighting potential avenues for future exploration and advancement. The objective is to effectively utilize and maximize the application of BINMs in the progression of biomedical micro/nanodevices, thereby propelling this rapidly developing field toward its promising future.
Collapse
Affiliation(s)
- Mohammad Harun-Ur-Rashid
- Department of Chemistry, International University of Business Agriculture and Technology, Dhaka 1230, Bangladesh;
| | - Israt Jahan
- Department of Cell Physiology, Graduate School of Medicine, Nagoya University, Nagoya 466-8550, Japan;
| | - Tahmina Foyez
- Department of Pharmacy, United International University, Dhaka 1212, Bangladesh;
| | - Abu Bin Imran
- Department of Chemistry, Bangladesh University of Engineering and Technology, Dhaka 1000, Bangladesh
| |
Collapse
|
5
|
Nguyen VP, Dhyan SB, Mai V, Han BS, Chow WT. Bioinspiration and Biomimetic Art in Robotic Grippers. MICROMACHINES 2023; 14:1772. [PMID: 37763934 PMCID: PMC10535325 DOI: 10.3390/mi14091772] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 09/07/2023] [Accepted: 09/09/2023] [Indexed: 09/29/2023]
Abstract
The autonomous manipulation of objects by robotic grippers has made significant strides in enhancing both human daily life and various industries. Within a brief span, a multitude of research endeavours and gripper designs have emerged, drawing inspiration primarily from biological mechanisms. It is within this context that our study takes centre stage, with the aim of conducting a meticulous review of bioinspired grippers. This exploration involved a nuanced classification framework encompassing a range of parameters, including operating principles, material compositions, actuation methods, design intricacies, fabrication techniques, and the multifaceted applications into which these grippers seamlessly integrate. Our comprehensive investigation unveiled gripper designs that brim with a depth of intricacy, rendering them indispensable across a spectrum of real-world scenarios. These bioinspired grippers with a predominant emphasis on animal-inspired solutions have become pivotal tools that not only mirror nature's genius but also significantly enrich various domains through their versatility.
Collapse
Affiliation(s)
- Van Pho Nguyen
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore or (V.P.N.); (S.B.D.)
- Schaeffler Hub for Advanced Research at NTU, Singapore 637460, Singapore;
| | - Sunil Bohra Dhyan
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore or (V.P.N.); (S.B.D.)
- Schaeffler Hub for Advanced Research at NTU, Singapore 637460, Singapore;
| | - Vu Mai
- Faculty of Engineering, Dong Nai Technology University, Bien Hoa City 76000, Vietnam;
| | - Boon Siew Han
- Schaeffler Hub for Advanced Research at NTU, Singapore 637460, Singapore;
| | - Wai Tuck Chow
- School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore or (V.P.N.); (S.B.D.)
| |
Collapse
|
6
|
Wei H, Zhang G, Wang S, Zhang P, Su J, Du F. Coupling Analysis of Compound Continuum Robots for Surgery: Another Line of Thought. SENSORS (BASEL, SWITZERLAND) 2023; 23:6407. [PMID: 37514701 PMCID: PMC10384598 DOI: 10.3390/s23146407] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/22/2023] [Revised: 07/10/2023] [Accepted: 07/12/2023] [Indexed: 07/30/2023]
Abstract
The compound continuum robot employs both concentric tube components and cable-driven continuum components to achieve its complex motions. Nevertheless, the interaction between these components causes coupling, which inevitably leads to reduced accuracy. Consequently, researchers have been striving to mitigate and compensate for this coupling-induced error in order to enhance the overall performance of the robot. This paper leverages the coupling between the components of the compound continuum robot to accomplish specific surgical procedures. Specifically, the internal concentric tube component is utilized to induce motion in the cable-driven external component, which generates coupled motion under the constraints of the cable. This approach enables the realization of high-precision surgical operations. Specifically, a kinematic model for the proposed robot is established, and an inverse kinematic algorithm is developed. In this inverse kinematic algorithm, the solution of a highly nonlinear system of equations is simplified into the solution of a single nonlinear equation. To demonstrate the effectiveness of the proposed approach, simulations are conducted to evaluate the efficiency of the algorithm. The simulations conducted in this study indicate that the proposed inverse kinematic (IK) algorithm improves computational speed by a significant margin. Specifically, it achieves a speedup of 2.8 × 103 over the Levenberg-Marquardt (LM) method. In addition, experimental results demonstrate that the coupled-motion system achieves high levels of accuracy. Specifically, the repetitive positioning accuracy is measured to be 0.9 mm, and the tracking accuracy is 1.5 mm. This paper is significant for dealing with the coupling of the compound continuum robot.
Collapse
Affiliation(s)
- Hangxing Wei
- School of Mechanical Engineering, Shandong University, Jinan 250061, China
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of MOE, Shandong University, Jinan 250061, China
| | - Gang Zhang
- School of Mechanical Engineering, Shandong University, Jinan 250061, China
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of MOE, Shandong University, Jinan 250061, China
| | - Shengsong Wang
- Shandong Center for Food and Drug Evaluation & Inspection, Jinan 250014, China
| | - Peng Zhang
- School of Mechanical Engineering, Shandong University, Jinan 250061, China
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of MOE, Shandong University, Jinan 250061, China
| | - Jing Su
- School of Mechanical Engineering, Shandong University, Jinan 250061, China
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of MOE, Shandong University, Jinan 250061, China
| | - Fuxin Du
- School of Mechanical Engineering, Shandong University, Jinan 250061, China
- Key Laboratory of High-Efficiency and Clean Mechanical Manufacture of MOE, Shandong University, Jinan 250061, China
| |
Collapse
|
7
|
Tian B, Liu W, Mo H, Li W, Wang Y, Adhikari BR. Detecting the Unseen: Understanding the Mechanisms and Working Principles of Earthquake Sensors. SENSORS (BASEL, SWITZERLAND) 2023; 23:s23115335. [PMID: 37300062 DOI: 10.3390/s23115335] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/06/2023] [Revised: 05/29/2023] [Accepted: 05/30/2023] [Indexed: 06/12/2023]
Abstract
The application of movement-detection sensors is crucial for understanding surface movement and tectonic activities. The development of modern sensors has been instrumental in earthquake monitoring, prediction, early warning, emergency commanding and communication, search and rescue, and life detection. There are numerous sensors currently being utilized in earthquake engineering and science. It is essential to review their mechanisms and working principles thoroughly. Hence, we have attempted to review the development and application of these sensors by classifying them based on the timeline of earthquakes, the physical or chemical mechanisms of sensors, and the location of sensor platforms. In this study, we analyzed available sensor platforms that have been widely used in recent years, with satellites and UAVs being among the most used. The findings of our study will be useful for future earthquake response and relief efforts, as well as research aimed at reducing earthquake disaster risks.
Collapse
Affiliation(s)
- Bingwei Tian
- Institute for Disaster Management and Reconstruction, Sichuan University-The Hong Kong Polytechnic University, Chengdu 610207, China
| | - Wenrui Liu
- Sichuan University-Pittsburgh Institute, Sichuan University, Chengdu 610065, China
| | - Haozhou Mo
- Sichuan University-Pittsburgh Institute, Sichuan University, Chengdu 610065, China
| | - Wang Li
- Sichuan University-Pittsburgh Institute, Sichuan University, Chengdu 610065, China
| | - Yuting Wang
- Institute for Disaster Management and Reconstruction, Sichuan University-The Hong Kong Polytechnic University, Chengdu 610207, China
| | - Basanta Raj Adhikari
- Institute for Disaster Management and Reconstruction, Sichuan University-The Hong Kong Polytechnic University, Chengdu 610207, China
- Department of Civil Engineering, Pulchowk Campus, Tribuvan University, Lalitpur 44600, Nepal
| |
Collapse
|
8
|
Wiersinga P, Sleavin A, Boom B, Masmeijer T, Flint S, Habtour E. Hybrid Compliant Musculoskeletal System for Fast Actuation in Robots. MICROMACHINES 2022; 13:1783. [PMID: 36296136 PMCID: PMC9611504 DOI: 10.3390/mi13101783] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/14/2022] [Revised: 10/15/2022] [Accepted: 10/17/2022] [Indexed: 06/16/2023]
Abstract
A nature-inspired musculoskeletal system is designed and developed to examine the principle of nonlinear elastic energy storage-release for robotic applications. The musculoskeletal system architecture consists of elastically rigid segments and hyperelastic soft materials to emulate rigid-soft interactions in limbless vertebrates. The objectives are to (i) improve the energy efficiency of actuation beyond that of current pure soft actuators while (ii) producing a high range of motion similar to that of soft robots but with structural stability. This paper proposes a musculoskeletal design that takes advantage of structural segmentation to increase the system's degrees of freedom, which enhances the range of motion. Our findings show that rigid-soft interactions provide a remarkable increase in energy storage and release and, thus, an increase in the undulation speed. The energy efficiency achieved is approximately 68% for bending the musculoskeletal system from the straight configuration, compared to 2.5-30% efficiency in purely soft actuators. The hybrid compliance of the musculoskeletal system under investigation shows promise for alleviating the need for actuators at each joint in a robot.
Collapse
Affiliation(s)
- Pieter Wiersinga
- Faculty of Science and Engineering, University of Groningen, Postbus 72, 9700 AB Groningen, The Netherlands
| | - Aidan Sleavin
- Department of Aeronautics & Astronautics, The University of Washington, Seattle, WA 98195, USA
- The Illimited LAB, University of Washington, Guggenheim 211, Seattle, WA 98195, USA
| | - Bart Boom
- Department of Aeronautics & Astronautics, The University of Washington, Seattle, WA 98195, USA
- The Illimited LAB, University of Washington, Guggenheim 211, Seattle, WA 98195, USA
| | - Thijs Masmeijer
- Department of Aeronautics & Astronautics, The University of Washington, Seattle, WA 98195, USA
- The Illimited LAB, University of Washington, Guggenheim 211, Seattle, WA 98195, USA
| | - Spencer Flint
- Department of Aeronautics & Astronautics, The University of Washington, Seattle, WA 98195, USA
- The Illimited LAB, University of Washington, Guggenheim 211, Seattle, WA 98195, USA
| | - Ed Habtour
- Department of Aeronautics & Astronautics, The University of Washington, Seattle, WA 98195, USA
- The Illimited LAB, University of Washington, Guggenheim 211, Seattle, WA 98195, USA
| |
Collapse
|
9
|
Design and Modeling of a Bio-Inspired Compound Continuum Robot for Minimally Invasive Surgery. MACHINES 2022. [DOI: 10.3390/machines10060468] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/19/2022]
Abstract
The continuum robot is a new type of bionic robot which is widely used in the medical field. However, the current structure of the continuum robot limits its application in the field of minimally invasive surgery. In this paper, a bio-inspired compound continuum robot (CCR) combining the concentric tube continuum robot (CTR) and the notched continuum robot is proposed to design a high-dexterity minimally invasive surgical instrument. Then, a kinematic model, considering the stability of the CTR part, was established. The unstable operation of the CCR is avoided. The simulation of the workspace shows that the introduction of the notched continuum robot expands the workspace of CTR. The dexterity indexes of the robots are proposed. The simulation shows that the dexterity of the CCR is 1.472 times that of the CTR. At last, the length distribution of the CCR is optimized based on the dexterity index by using a fruit fly optimization algorithm. The simulations show that the optimized CCR is more dexterous than before. The dexterity of the CCR is increased by 1.069 times. This paper is critical for the development of high-dexterity minimally invasive surgical instruments such as those for the brain, blood vessels, heart and lungs.
Collapse
|