Bioinspiration & Biomimetics最新文献

{"title":"Delfly Flex: a flapping wing micro air vehicle with a bio-inspired unibody composed of compliant joints.","authors":"Sunyi Wang, Martijn den Hoed, Salua Hamaza","doi":"10.1088/1748-3190/ae5e10","DOIUrl":"10.1088/1748-3190/ae5e10","url":null,"abstract":"<p><p>Flying insects' thorax houses the flight muscles that provide efficient, multi-axis wing actuation. Such bio-inspiration is essential for developing future flapping wing micro air vehicles (FWMAVs) that combine advanced maneuverability with design simplicity, low weight, and high power efficiency. In this work, we propose a novel unibody with distributed compliant joints inspired by the multiple degrees of actuation freedom of an insect thorax-in particular, wing stroke plane modulation for active pitch and yaw-yielding a compact multifunctional structural component for the 24.6 g FWMAV:<i>Delfly Flex</i>. All of these functions are achieved within a single 3.73 g 3D-printed integrated airframe. To design this unibody, we provide an analytical framework that guides compliant joint geometry using differential flexure beam analysis, along with an optimal joint orientation analysis for seamless integration into the unibody. To ensure sufficient structural endurance, we investigate various resin materials and printing configurations, resulting in a robust resin-printed unibody that incorporates two compliant joints and wing-root stabilizers. This single structure replaces the conventional multi-component FWMAV body composed of rigid-hinge-based dihedral pitch & yaw mechanisms attached to a rod-like fuselage. We characterize the flight capabilities of<i>Delfly Flex</i>through tethered experiments measuring force and moment generation. The results show thrust generation and yaw moment arms equivalent to its predecessor, while the pitch moment arm is approximately 50% smaller due to the concentrated mass distribution inherent to the unibody design. Free-flight experiments further validate the concept, demonstrating controlled pitch and yaw maneuvers enabled by compliant beams as thin as 0.4 mm. Combined with simplified assembly and more than 10% mass reduction, this unibody concept opens pathways toward future designs with increased deformability and expanded control authority. Overall, this study highlights the synergy between aero-mechanical design and additive manufacturing, achieving enhanced body intelligence through insect-thorax-inspired FWMAV structures.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2026-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147655429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Experimental study of soil penetration strategies for earthworm-like robots.","authors":"Ilya Brodoline, Floriana Anselmucci, Ali Sadeghi, Vanessa Magnanimo","doi":"10.1088/1748-3190/ae60f3","DOIUrl":"10.1088/1748-3190/ae60f3","url":null,"abstract":"<p><p>Earthworm-like robots represent a promising alternative to conventional soil investigation tools currently used in geotechnics. Their limited invasiveness and ability to navigate in three-dimensions underground are highly desirable properties. Despite the multitude of existing strategies developed for exploring underground soils, the energy improvement is difficult to compare due to various soil conditions and robot tip design. In this study, we present an experimental comparison between burrowing strategies bio-inspired by the motion of earthworms in a fine, dry sand. Results showed that a high aspect ratio (AR) of the tip during burrowing, compared to smaller aspects ratios reduces energy consumption. An AR of 4 reduced the energy required to reach a depth of 200 mm by 65%, with respect to the AR of 1. Additionally, asymmetric geometries did not improve the penetration energy during vertical burrowing while led to energy reduction of nearly 40% for horizontal penetration. Active strategy by vacuuming showed a high reduction in penetration energy by nearly 70% at 200 mm, while fluidization strategy using low pressurized air provided limited advantages. The results highlight the importance of considering both bio-inspired passive and active strategies in the design of burrowing robots to exploit their potential and reach deep soil via three-dimensional motion. This approach should be coupled with online soil characterization tools to tune the strategy by need.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2026-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147700470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Model suggests that swing leg dynamic decoupling is crucial for explaining bipedal walking dynamics.","authors":"Daniel Renjewski, Tengman Wang","doi":"10.1088/1748-3190/ae6212","DOIUrl":"10.1088/1748-3190/ae6212","url":null,"abstract":"<p><p>Understanding the dynamics of bipedal walking is essential for advancements in biomechanics and robotics. This study examines the impact of swing-leg dynamics on overall gait mechanics using an augmented inverted pendulum model that incorporates a swing leg and an upper-body segment (HAT). We hypothesized that the HAT segment compensates for swing-leg dynamics, thereby minimizing their effect on ground reaction forces (GRFs). Contrary to expectations, our findings reveal that the trunk contributes minimally to this compensation, leading to significant GRF modulation during active swing-leg propulsion. However, introducing an initial velocity to the swing leg during terminal stance markedly reduces these modulations, aligning simulated GRFs with experimental data for human walking. This result highlights the need to dynamically decouple the swing leg from upper-body dynamics to achieve efficient, human-like locomotion. The presented model provides a framework for optimizing bipedal gait designs in humanoid robotics and advancing our understanding of human biomechanics.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2026-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147730782","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Preparation and motion study of a micro soft robot mimicking the cownose ray driven by external magnetic field.","authors":"Song Gao, Chaowei Dong, Zhaobang Li, Yang Liu, Jiaqing Chang","doi":"10.1088/1748-3190/ae6211","DOIUrl":"10.1088/1748-3190/ae6211","url":null,"abstract":"<p><p>In narrow, unstructured underwater environments such as target monitoring and minimally invasive medical procedures, micro soft robots exhibit unique advantages due to their flexible movement capabilities and small size. At the same time, bionic design of a micro soft robot, can significantly improve their swimming performance. However, limited by their small size, these robots are difficult to power internally and usually adopt a wireless power supply design. This study designs and fabricates a magnetically responsive, bionic micro soft robot based on the swimming principle of the cownose ray. The robot is made of a mixture of neodymium iron boron (NdFeB) and polydimethylsiloxane in a certain proportion. Then, a three-dimensional Helmholtz coil is used to generate an oscillating harmonic magnetic field, allowing for swimming experiments on the robot to explore the influence of magnetic field parameters on its swimming performance. The experimental results show that the swimming speed is fastest at<i>B</i>= 5 mT and<i>f</i>= 11 Hz, reaching 5.25 mm s^-1, about 0.5 body lengths per second. Additionally, by adjusting the current direction and frequency of the coil, the robot can execute various swimming modes, including straight swimming, turning swimming, and directional swimming. By employing a stepwise adjustment method, the impact of response errors on the robot's trajectory can be effectively reduced. This study demonstrates the feasibility of a magnetically driven micro soft robot, laying the foundation for the application of wirelessly driven robots in underwater narrow spaces.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2026-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147730828","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Aerodynamic performance and flow structure analysis of a swallow-inspired NACA2415 airfoil.","authors":"K N Tekeoğlu, H Akbıyık, N F Tümen Özdil","doi":"10.1088/1748-3190/ae6210","DOIUrl":"10.1088/1748-3190/ae6210","url":null,"abstract":"<p><p>This study investigates the aerodynamic characteristics of a swallow-inspired wing based on a NACA 2415 airfoil at Reynolds numbers of 7.5 × 10⁴and 1.25 × 10⁵using experimental force measurements and flow-visualization techniques. The bioinspired wing model was designed according to the top-view geometry of a swallow wing and tested in a low-speed open-suction wind tunnel together with a rectangular wing of identical planform area and airfoil profile to provide a baseline comparison. Aerodynamic measurements were conducted over an angle-of-attack range between -6° and 24° to determine lift, drag and moment coefficients as well as aerodynamic efficiency. In addition to force measurements, smoke-wire and TiO₂based flow visualization techniques were used to examine the flow topology around the test models. The results show that the swallow-inspired wing exhibits improved aerodynamic performance compared with the rectangular configuration under both Reynolds number conditions. At<i>Re</i>= 1.25 × 10⁵, the bioinspired wing achieved a maximum lift coefficient of 0.694 at an angle of attack of 9°, while the minimum drag coefficient was approximately 7.48 × 10^-3. The aerodynamic efficiency reached a maximum<i>L/D</i>ratio of 42.9 at an angle of attack of 2°. Similar aerodynamic trends were observed at<i>Re</i>= 7.5 × 10⁴, although slightly reduced lift and aerodynamic efficiency were recorded due to stronger viscous effects at lower Reynolds numbers. The pitching moment coefficient varied approximately linearly with angle of attack, with a slope of -7.8 × 10^-3per degree and a zero-lift moment value of -7.47 × 10^-3, indicating stable longitudinal aerodynamic behavior. Flow visualization results revealed a gradual transition from attached laminar flow to separated turbulent flow, suggesting smoother stall development and improved flow stability for the bioinspired configuration. These findings highlight the aerodynamic advantages of swallow-inspired wing geometries and their potential to enhance aerodynamic efficiency in low Reynolds number flight.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2026-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147730836","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"From nature to robotics: insights of animals collective behaviors on the development of swarm intelligence and multi-robot systems.","authors":"Andong Jiang, Youzhi Xu, Haibing Zhang, Xuefei Liu, Shikun Wen, Yi Sun, Ping Zhang, Qingfei Han, Aihong Ji","doi":"10.1088/1748-3190/ae5e33","DOIUrl":"10.1088/1748-3190/ae5e33","url":null,"abstract":"<p><p>The collective behaviors observed in marine, terrestrial, and aerial animals, exhibiting fascinating phenomena that emerge from simple interaction rules among individuals, provide valuable inspiration for swarm intelligence (SI) and robotics. This paper summarizes foraging, hunting, following and aggregation four typical animal collective behaviors and explores their relationship with SI. Building on this, we present the state of the art of research efforts to explore the use of SI in addressing multi-robot coordination problems, focusing on three key topics: spatial organization, navigation, and collective decision-making. These insights are based on research indexed in the Web of Science database. Through the analysis of key aspects, this article identifies current challenges, future development directions, and application prospects from three perspectives: animals, SI and robots. This review serves as an overview for scholars and professionals in the field of multi-robot systems.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2026-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147655397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Aerodynamic optimization of a two-segment flapping wing via kinematic timing design.","authors":"Yonggang Yang, Yitian Ren","doi":"10.1088/1748-3190/ae6213","DOIUrl":"10.1088/1748-3190/ae6213","url":null,"abstract":"<p><p>Flapping-wing aircraft often experience pronounced negative-lift excursions during stroke transitions, which degrade their aerodynamic stability and energy utilization, thereby hindering practical deployment. To address this issue, an albatross-inspired two-segment flapping-wing configuration was investigated with a dwell (waiting) phase introduced at stroke reversal as a kinematic timing design strategy. A three-phase kinematic model (upstroke-dwell-downstroke) was established and simulated using the XFlow lattice Boltzmann solver. Numerical simulations were conducted at flapping frequencies of 3-5 Hz with varying dwell-time ratios, and the resulting aerodynamic loads and vortex structures are analyzed. The results showed that incorporating a dwell phase reduced negative-lift fluctuations; the peak negative lift decreased as the dwell-time ratio increased up to 1/6 of the cycle and then approached a plateau. At a dwell-time ratio of 1/6, the peak negative lift was reduced by approximately 37% relative to the no-dwell case, whereas further extension of the dwell phase induced oscillations in the lift history. Overall, properly designed dwell timings provide quantitative guidance for motion sequencing and aerodynamic optimization in multi-segment flapping-wing systems.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2026-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147730842","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Designing McKibben Muscles: A Critical Review for Practical Implementation.","authors":"Vera Gesina Kortman, Jovana Jovanova, Hiroyuki Nabae, Gen Endo, Koichi Suzumori, Aimee Sakes","doi":"10.1088/1748-3190/ae66c0","DOIUrl":"https://doi.org/10.1088/1748-3190/ae66c0","url":null,"abstract":"<p><p>McKibben Artificial Muscles (AMs) are known as a prominent class of pneumatic actuators in soft robotics and biomechanical engineering, due to their unique structure and multifunctionality. This paper presents a comprehensive review of recent advancements in McKibben AMs, focusing on their performance, structural variations, and operational principles. A systematic literature search on Scopus identified 146 relevant articles, which were analyzed for both performance metrics and design characteristics. Inspired by natural muscle behavior, McKibben AMs enable complex motions such as bending, linear extension, and twisting. These actuators can be organized as individual or bundled systems: individual units are typically arranged in linear or circular patterns, while bundled systems occur in serial, parallel, braided, convergent, or pennate configurations. Recent innovations in smart actuation methods, braided sleeves and internal bladders have expanded their capabilities, enabling embedded sensing, environmental adaptability and untethered operation. Additionally, alternative manufacturing methods offer promising solutions for developing McKibben muscles with enhanced functionality and tailored properties.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2026-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147789135","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Fur roughness, density, and length reduce raindrop penetration of mammalian pelts.","authors":"Gene Patrick Salas Rible, John Michael Wylie, Braeden Keelen Elbers, David Job Dooley, Cora Lynn Thomas, Andrew Keith Dickerson","doi":"10.1088/1748-3190/ae66c1","DOIUrl":"https://doi.org/10.1088/1748-3190/ae66c1","url":null,"abstract":"<p><p>This experimental work explores the relationship between the properties and structure of mammalian fur from different habitats and the depth of water drop penetration when impacted in succession. For most mammals, water penetration depth reaches a saturation point, beyond which it no longer increases, creating a dry insulating air layer near the skin regardless of repeated water impacts. To understand this phenomenon, we define several dimensionless quantities representing fur macro-properties, such as guard hair and underfur densities, guard hair and underfur lengths, contact angles, and equivalent diameters. Additionally, we examine microscopic properties such as the aspect ratio and roughness of individual fiber scales. We establish connections between these macro- and microscopic characteristics, the thickness of the dry zone, the depth of water penetration, and the rate at which penetration depth decays exponentially. Our results show that the distal diameter influences the rate at which the penetration depth of water decays with additional impacts. Generally, a higher pelage density, larger guard hair diameter, and increased fur roughness contribute to a thicker dry zone. Using digital microscopy, we confirm that mammalian guard fur is hydrophilic, resisting dynamic water penetration, while the finer and denser underfur is hydrophobic, resisting static penetration. This dual-layer structure allows mammals to resist wetting during a heavy rainfall.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2026-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147789271","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Viscoelasticity of biomimetic scale beams from trapped complex fluids.","authors":"Pranta Rahman Sarkar, Outi Tammisola, Ranajay Ghosh","doi":"10.1088/1748-3190/ae6697","DOIUrl":"https://doi.org/10.1088/1748-3190/ae6697","url":null,"abstract":"<p><p>We investigate the nonlinear viscoelastic behavior of a biomimetic scale-covered beam in which shear-dependent complex fluids are trapped between overlapping scales under bending loads. These fluids mimic biological mucus and slime layers commonly enveloping the skins found in nature. An energy-based analytical model is developed to quantify the interplay between substrate elasticity, scale geometry, and fluid rheology at multiple length scales. Constant strain rate and oscillatory bending are examined for Newtonian, shear-thinning, and shear-thickening fluids. The analysis reveals unique, geometry-and rate-dependent viscoelastic response, distinct from classical mechanisms such as material dissipation, frictional resistance, or air drag. Energy dissipation is shown to emerge from a nonlinear coupling of tribological parameters, fluid rheology, and system kinematics, exhibiting distinct regime-differentiated characteristics. The model captures the competitions and cooperations between elastic and geometrical parameters to influence the viscoelastic behavior and lead to geometry and rheology scaling laws for relative energy dissipation. The pronounced nonlinearity in the moment-curvature relationships, along with the geometry-controlled regimes of performance, highlights the potential for using tailored and engineered complex inks for soft robotics and smart damping systems.</p>","PeriodicalId":55377,"journal":{"name":"Bioinspiration & Biomimetics","volume":" ","pages":""},"PeriodicalIF":3.0,"publicationDate":"2026-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147789621","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}