Science Robotics最新文献

{"title":"Even teleoperated robots are discriminated against in science fictions.","authors":"Robin R Murphy","doi":"10.1126/scirobotics.adu6332","DOIUrl":"https://doi.org/10.1126/scirobotics.adu6332","url":null,"abstract":"<p><p>A robot body is not a shield from discrimination in John Scalzi's science fiction novel <i>Head On.</i></p>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 97","pages":"eadu6332"},"PeriodicalIF":26.1,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142856978","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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":"Counterfactual rewards promote collective transport using individually controlled swarm microrobots","authors":"Veit-Lorenz Heuthe, Emanuele Panizon, Hongri Gu, Clemens Bechinger","doi":"10.1126/scirobotics.ado5888","DOIUrl":"https://doi.org/10.1126/scirobotics.ado5888","url":null,"abstract":"Swarm robots offer fascinating opportunities to perform complex tasks beyond the capabilities of individual machines. Just as a swarm of ants collectively moves large objects, similar functions can emerge within a group of robots through individual strategies based on local sensing. However, realizing collective functions with individually controlled microrobots is particularly challenging because of their micrometer size, large number of degrees of freedom, strong thermal noise relative to the propulsion speed, and complex physical coupling between neighboring microrobots. Here, we implemented multiagent reinforcement learning (MARL) to generate a control strategy for up to 200 microrobots whose motions are individually controlled by laser spots. During the learning process, we used so-called counterfactual rewards that automatically assign credit to the individual microrobots, which allows fast and unbiased training. With the help of this efficient reward scheme, swarm microrobots learn to collectively transport a large cargo object to an arbitrary position and orientation, similar to ant swarms. We show that this flexible and versatile swarm robotic system is robust to variations in group size, the presence of malfunctioning units, and environmental noise. In addition, we let the robot swarms manipulate multiple objects simultaneously in a demonstration experiment, highlighting the benefits of distributed control and independent microrobot motion. Control strategies such as ours can potentially enable complex and automated assembly of mobile micromachines, programmable drug delivery capsules, and other advanced lab-on-a-chip applications.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"18 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142841881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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":"Haptiknit: Distributed stiffness knitting for wearable haptics","authors":"Cosima du Pasquier, Lavender Tessmer, Ian Scholl, Liana Tilton, Tian Chen, Skylar Tibbits, Allison Okamura","doi":"10.1126/scirobotics.ado3887","DOIUrl":"https://doi.org/10.1126/scirobotics.ado3887","url":null,"abstract":"Haptic devices typically rely on rigid actuators and bulky power supply systems, limiting wearability. Soft materials improve comfort, but careful distribution of stiffness is required to ground actuation forces and enable load transfer to the skin. We present Haptiknit, an approach in which soft, wearable, knit textiles with embedded pneumatic actuators enable programmable haptic display. By integrating pneumatic actuators within high- and low-stiffness machine-knit layers, each actuator can transmit 40 newtons in force with a bandwidth of 14.5 hertz. We demonstrate the concept with an adjustable sleeve for the forearm coupled to an untethered pneumatic control system that conveys a diverse array of social touch signals. We assessed the sleeve’s performance for discriminative and affective touch in a three-part user study and compared our results with those of prior electromagnetically actuated approaches. Haptiknit improves touch localization compared with vibrotactile stimulation and communicates social touch cues with fewer actuators than pneumatic textiles that do not invoke distributed stiffness. The Haptiknit sleeve resulted in similar recognition of social touch gestures compared to a voice-coil array but represented a more portable and comfortable form factor.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"24 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142841851","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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":"A call for diversity, equity, and inclusion in robotics.","authors":"Melisa Yashinski","doi":"10.1126/scirobotics.adu7713","DOIUrl":"https://doi.org/10.1126/scirobotics.adu7713","url":null,"abstract":"<p><p>Robotics research is rooted in a diversity of ideas, so roboticists should embrace a diverse set of people.</p>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 97","pages":"eadu7713"},"PeriodicalIF":26.1,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142856974","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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":"Erratum for the Research Article \"Restoration of grasping in an upper limb amputee using the myokinetic prosthesis with implanted magnets\" by M. Gherardini <i>et al</i>.","authors":"","doi":"10.1126/scirobotics.adu7152","DOIUrl":"https://doi.org/10.1126/scirobotics.adu7152","url":null,"abstract":"","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 97","pages":"eadu7152"},"PeriodicalIF":26.1,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142856976","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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":"Overcoming the challenges that women in robotics face.","authors":"Andra Keay","doi":"10.1126/scirobotics.adu0391","DOIUrl":"https://doi.org/10.1126/scirobotics.adu0391","url":null,"abstract":"<p><p>Robotics history is still HIS story, but Women in Robotics is working hard to include HER story in the future of robotics.</p>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 97","pages":"eadu0391"},"PeriodicalIF":26.1,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142856980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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":"Accelerating the pace of innovation in robotics by fostering diversity and inclusive leadership","authors":"Daniela Macari, Alex Fratzl, Ksenia Keplinger, Christoph Keplinger","doi":"10.1126/scirobotics.adt1958","DOIUrl":"https://doi.org/10.1126/scirobotics.adt1958","url":null,"abstract":"Diverse and inclusive teams are not merely a moral imperative but also a catalyst for scientific excellence in robotics. Drawing from literature, a comprehensive citation analysis, and expert interviews, we derive seven main benefits of diversity and inclusion and propose a leadership guide for roboticists to reap these benefits.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"14 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142809569","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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":"Black in Robotics: Improving community and equity in the field of robotics.","authors":"Monroe Kennedy, Ayanna Howard","doi":"10.1126/scirobotics.adu2915","DOIUrl":"https://doi.org/10.1126/scirobotics.adu2915","url":null,"abstract":"<p><p>Black in Robotics, a nonprofit organization, has had recent success, but it is the ongoing community participation that will sustain its efforts.</p>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 97","pages":"eadu2915"},"PeriodicalIF":26.1,"publicationDate":"2024-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142814966","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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":"MOGrip: Gripper for multiobject grasping in pick-and-place tasks using translational movements of fingers","authors":"Jaemin Eom, Sung Yol Yu, Woongbae Kim, Chunghoon Park, Kristine Yoonseo Lee, Kyu-Jin Cho","doi":"10.1126/scirobotics.ado3939","DOIUrl":"https://doi.org/10.1126/scirobotics.ado3939","url":null,"abstract":"Humans use their dexterous fingers and adaptable palm in various multiobject grasping strategies to efficiently move multiple objects together in various situations. Advanced manipulation skills, such as finger-to-palm translation and palm-to-finger translation, enhance the dexterity in multiobject grasping. These translational movements allow the fingers to transfer the grasped objects to the palm for storage, enabling the fingers to freely perform various pick-and-place tasks while the palm stores multiple objects. However, conventional grippers, although able to handle multiple objects simultaneously, lack this integrated functionality, which combines the palm’s storage with the fingers’ precise placement. Here, we introduce a gripper for multiobject grasping that applies translational movements of fingertips to leverage the synergistic use of fingers and the palm for enhanced pick-and-place functionality. The proposed gripper consists of four fingers and an adaptive conveyor palm. The fingers sequentially grasp and transfer objects to the palm, where the objects are stored simultaneously, allowing the gripper to move multiple objects at once. Furthermore, by reversing this process, the fingers retrieve the stored objects and place them one by one in the desired position and orientation. A finger design for simple object translating and a palm design for simultaneous object storing were proposed and validated. In addition, the time efficiency and pick-and-place capabilities of the developed gripper were demonstrated. Our work shows the potential of finger translation to enhance functionality and broaden the applicability of multiobject grasping.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"141 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142809697","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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":"Imaging-guided bioresorbable acoustic hydrogel microrobots","authors":"Hong Han, Xiaotian Ma, Weiting Deng, Junhang Zhang, Songsong Tang, On Shun Pak, Lailai Zhu, Ernesto Criado-Hidalgo, Chen Gong, Emil Karshalev, Jounghyun Yoo, Ming You, Ann Liu, Canran Wang, Hao K. Shen, Payal N. Patel, Claire L. Hays, Peter J. Gunnarson, Lei Li, Yang Zhang, John O. Dabiri, Lihong V. Wang, Mikhail G. Shapiro, Di Wu, Qifa Zhou, Julia R. Greer, Wei Gao","doi":"10.1126/scirobotics.adp3593","DOIUrl":"https://doi.org/10.1126/scirobotics.adp3593","url":null,"abstract":"Micro- and nanorobots excel in navigating the intricate and often inaccessible areas of the human body, offering immense potential for applications such as disease diagnosis, precision drug delivery, detoxification, and minimally invasive surgery. Despite their promise, practical deployment faces hurdles, including achieving stable propulsion in complex in vivo biological environments, real-time imaging and localization through deep tissue, and precise remote control for targeted therapy and ensuring high therapeutic efficacy. To overcome these obstacles, we introduce a hydrogel-based, imaging-guided, bioresorbable acoustic microrobot (BAM) designed to navigate the human body with high stability. Constructed using two-photon polymerization, a BAM comprises magnetic nanoparticles and therapeutic agents integrated into its hydrogel matrix for precision control and drug delivery. The microrobot features an optimized surface chemistry with a hydrophobic inner layer to substantially enhance microbubble retention in biofluids with multiday functionality and a hydrophilic outer layer to minimize aggregation and promote timely degradation. The dual-opening bubble-trapping cavity design enables a BAM to maintain consistent and efficient acoustic propulsion across a range of biological fluids. Under focused ultrasound stimulation, the entrapped microbubbles oscillate and enhance the contrast for real-time ultrasound imaging, facilitating precise tracking and control of BAM movement through wireless magnetic navigation. Moreover, the hydrolysis-driven biodegradability of BAMs ensures its safe dissolution after treatment, posing no risk of long-term residual harm. Thorough in vitro and in vivo experimental evidence demonstrates the promising capabilities of BAMs in biomedical applications. This approach shows promise for advancing minimally invasive medical interventions and targeted therapeutic delivery.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"40 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142809881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}