A Manta Ray-Inspired Biosyncretic Robot with Stable Controllability by Dynamic Electric Stimulation.

IF 10.5 Q1 ENGINEERING, BIOMEDICAL
Cyborg and bionic systems (Washington, D.C.) Pub Date : 2022-07-05 eCollection Date: 2022-01-01 DOI:10.34133/2022/9891380
Chuang Zhang, Yiwei Zhang, Wenxue Wang, Ning Xi, Lianqing Liu
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引用次数: 0

Abstract

Biosyncretic robots, which are new nature-based robots in addition to bionic robots, that utilize biological materials to realize their core function, have been supposed to further promote the progress in robotics. Actuation as the main operation mechanism relates to the robotic overall performance. Therefore, biosyncretic robots actuated by living biological actuators have attracted increasing attention. However, innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic robots. In this work, a muscle tissue-based biosyncretic swimmer with a manta ray-inspired propelling mode has been developed. What is more, to improve the stable controllability of the biosyncretic swimmer, a dynamic control method based on circularly distributed multiple electrodes (CDME) has been proposed. In this method, the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the actuation tissue of the dynamic swimmer. Therefore, the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be eliminated. Finally, the biosyncretic robot has demonstrated stable, controllable, and effective swimming, by adjusting the electric stimulation pulse direction, amplitude, and frequency. This work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.

基于动态电刺激的具有稳定可控性的蝠鲼仿生机器人。
生物合成机器人是在仿生机器人的基础上,利用生物材料实现其核心功能的新型自然机器人,有望进一步推动机器人技术的发展。作为主要操作机构的驱动关系到机器人的整体性能。因此,由活体生物作动器驱动的生物合成机器人越来越受到人们的关注。然而,为了进一步发展生物合成机器人的可控运动性能,还需要创新推进模式和控制方法。在这项工作中,一种基于肌肉组织的生物合成游泳者与蝠鲼启发的推进模式已经开发出来。为了提高生物合成游泳器的稳定可控性,提出了一种基于循环分布多电极(CDME)的动态控制方法。该方法可以实时控制CDME产生的电场方向,使其与动态游泳者的驱动组织平行。因此,可以消除组织轴与电场方向之间的动态夹角引起的组织驱动不稳定性。最后,通过调节电刺激脉冲的方向、幅度和频率,证明了生物合成机器人可以稳定、可控和有效地游泳。这项工作不仅对生物合成机器人的发展,而且对软机器人仿生设计和肌肉组织工程等相关研究也有一定的指导意义。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
CiteScore
7.70
自引率
0.00%
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0
审稿时长
21 weeks
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