Science Robotics最新文献_第2页

Taking control: Steering the future of biohybrid robots 掌握控制权：引领生物混合机器人的未来

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-09-25 DOI: 10.1126/scirobotics.adr9299

Maheera Bawa, Ritu Raman

引用次数: 0

Float like a butterfly, swim like a biohybrid neuromuscular robot 像蝴蝶一样漂浮，像生物混合神经肌肉机器人一样游泳

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-09-25 DOI: 10.1126/scirobotics.ads4127

Nicole W. Xu

引用次数: 0

Machine learning, robots, and abuse of power 机器学习、机器人和滥用权力

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-09-25 DOI: 10.1126/scirobotics.ads6559

Robin R. Murphy

引用次数: 0

Wirelessly steerable bioelectronic neuromuscular robots adapting neurocardiac junctions 可无线转向的生物电子神经肌肉机器人可调整神经心肌接头

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-09-25 DOI: 10.1126/scirobotics.ado0051

Hiroyuki Tetsuka, Samuele Gobbi, Takaaki Hatanaka, Lorenzo Pirrami, Su Ryon Shin

{"title":"Wirelessly steerable bioelectronic neuromuscular robots adapting neurocardiac junctions","authors":"Hiroyuki Tetsuka, Samuele Gobbi, Takaaki Hatanaka, Lorenzo Pirrami, Su Ryon Shin","doi":"10.1126/scirobotics.ado0051","DOIUrl":"10.1126/scirobotics.ado0051","url":null,"abstract":"<div >Biological motions of native muscle tissues rely on the nervous system to interface movement with the surrounding environment. The neural innervation of muscles, crucial for regulating movement, is the fundamental infrastructure for swiftly responding to changes in body tissue requirements. This study introduces a bioelectronic neuromuscular robot integrated with the motor nervous system through electrical synapses to evoke cardiac muscle activities and steer robotic motion. Serving as an artificial brain and wirelessly regulating selective neural activation to initiate robot fin motion, a wireless frequency multiplexing bioelectronic device is used to control the robot. Frequency multiplexing bioelectronics enables the control of the robot locomotion speed and direction by modulating the flapping of the robot fins through the wireless motor innervation of cardiac muscles. The robots demonstrated an average locomotion speed of ~0.52 ± 0.22 millimeters per second, fin-flapping frequency up to 2.0 hertz, and turning locomotion path curvature of ~0.11 ± 0.04 radians per millimeter. These systems will contribute to the expansion of biohybrid machines into the brain-to-motor frontier for developing autonomous biohybrid systems capable of advanced adaptive motor control and learning.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 94","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.ado0051","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142320959","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Soft robotic artificial left ventricle simulator capable of reproducing myocardial biomechanics 能够再现心肌生物力学的软机器人人工左心室模拟器

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-09-25 DOI: 10.1126/scirobotics.ado4553

James Davies, Mai Thanh Thai, Bibhu Sharma, Trung Thien Hoang, Chi Cong Nguyen, Phuoc Thien Phan, Thao Nhu Anne Marie Vuong, Adrienne Ji, Kefan Zhu, Emanuele Nicotra, Yi-Chin Toh, Michael Stevens, Christopher Hayward, Hoang-Phuong Phan, Nigel Hamilton Lovell, Thanh Nho Do

{"title":"Soft robotic artificial left ventricle simulator capable of reproducing myocardial biomechanics","authors":"James Davies, Mai Thanh Thai, Bibhu Sharma, Trung Thien Hoang, Chi Cong Nguyen, Phuoc Thien Phan, Thao Nhu Anne Marie Vuong, Adrienne Ji, Kefan Zhu, Emanuele Nicotra, Yi-Chin Toh, Michael Stevens, Christopher Hayward, Hoang-Phuong Phan, Nigel Hamilton Lovell, Thanh Nho Do","doi":"10.1126/scirobotics.ado4553","DOIUrl":"10.1126/scirobotics.ado4553","url":null,"abstract":"<div >The heart’s intricate myocardial architecture has been called the Gordian knot of anatomy, an impossible tangle of intricate muscle fibers. This complexity dictates equally complex cardiac motions that are difficult to mimic in physical systems. If these motions could be generated by a robotic system, then cardiac device testing, cardiovascular disease studies, and surgical procedure training could reduce their reliance on animal models, saving time, costs, and lives. This work introduces a bioinspired soft robotic left ventricle simulator capable of reproducing the minutiae of cardiac motion while providing physiological pressures. This device uses thin-filament artificial muscles to mimic the multilayered myocardial architecture. To demonstrate the device’s ability to follow the cardiac motions observed in the literature, we used canine myocardial strain data as input signals that were subsequently applied to each artificial myocardial layer. The device’s ability to reproduce physiological volume and pressure under healthy and heart failure conditions, as well as effective simulation of a cardiac support device, were experimentally demonstrated in a left-sided mock circulation loop. This work also has the potential to deliver faithful simulated cardiac motion for preclinical device and surgical procedure testing, with the potential to simulate patient-specific myocardial architecture and motion.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 94","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142320962","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}

引用次数: 0

A versatile knee exoskeleton mitigates quadriceps fatigue in lifting, lowering, and carrying tasks 多功能膝关节外骨骼可减轻抬举、降低和搬运任务中的股四头肌疲劳

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-09-18 DOI: 10.1126/scirobotics.adr8282

Nikhil V. Divekar, Gray C. Thomas, Avani R. Yerva, Hannah B. Frame, Robert D. Gregg

{"title":"A versatile knee exoskeleton mitigates quadriceps fatigue in lifting, lowering, and carrying tasks","authors":"Nikhil V. Divekar, Gray C. Thomas, Avani R. Yerva, Hannah B. Frame, Robert D. Gregg","doi":"10.1126/scirobotics.adr8282","DOIUrl":"10.1126/scirobotics.adr8282","url":null,"abstract":"<div >The quadriceps are particularly susceptible to fatigue during repetitive lifting, lowering, and carrying (LLC), affecting worker performance, posture, and ultimately lower-back injury risk. Although robotic exoskeletons have been developed and optimized for specific use cases like lifting-lowering, their controllers lack the versatility or customizability to target critical muscles across many fatiguing tasks. Here, we present a task-adaptive knee exoskeleton controller that automatically modulates virtual springs, dampers, and gravity and inertia compensation to assist squatting, level walking, and ramp and stairs ascent/descent. Unlike end-to-end neural networks, the controller is composed of predictable, bounded components with interpretable parameters that are amenable to data-driven optimization for biomimetic assistance and subsequent application-specific tuning, for example, maximizing quadriceps assistance over multiterrain LLC. When deployed on a backdrivable knee exoskeleton, the assistance torques holistically reduced quadriceps effort across multiterrain LLC tasks (significantly except for level walking) in 10 human users without user-specific calibration. The exoskeleton also significantly improved fatigue-induced deficits in time-based performance and posture during repetitive lifting-lowering. Last, the system facilitated seamless task transitions and garnered a high effectiveness rating postfatigue over a multiterrain circuit. These findings indicate that this versatile control framework can target critical muscles across multiple tasks, specifically mitigating quadriceps fatigue and its deleterious effects.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 94","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142245152","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}

引用次数: 0

Hexagonal electrohydraulic modules for rapidly reconfigurable high-speed robots 用于快速可重构高速机器人的六边形电动液压模块

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-09-18 DOI: 10.1126/scirobotics.adl3546

Zachary Yoder, Ellen H. Rumley, Ingemar Schmidt, Philipp Rothemund, Christoph Keplinger

{"title":"Hexagonal electrohydraulic modules for rapidly reconfigurable high-speed robots","authors":"Zachary Yoder, Ellen H. Rumley, Ingemar Schmidt, Philipp Rothemund, Christoph Keplinger","doi":"10.1126/scirobotics.adl3546","DOIUrl":"10.1126/scirobotics.adl3546","url":null,"abstract":"<div >Robots made from reconfigurable modular units feature versatility, cost efficiency, and improved sustainability compared with fixed designs. Reconfigurable modules driven by soft actuators provide adaptable actuation, safe interaction, and wide design freedom, but existing soft modules would benefit from high-speed and high-strain actuation, as well as driving methods well-suited to untethered operation. Here, we introduce a class of electrically actuated robotic modules that provide high-speed (a peak contractile strain rate of 4618% per second, 15.8-hertz bandwidth, and a peak specific power of 122 watts per kilogram), high-strain (49% contraction) actuation and that use magnets for reversible mechanical and electrical connections between neighboring modules, thereby serving as building blocks for rapidly reconfigurable and highly agile robotic systems. The actuation performance of each hexagonal electrohydraulic (HEXEL) module is enabled by a synergistic combination of soft and rigid components; a hexagonal exoskeleton of rigid plates amplifies the motion produced by soft electrohydraulic actuators and provides a mechanical structure and connection platform for reconfigurable robots composed of many modules. We characterize the actuation performance of individual HEXEL modules, present a model that captures their quasi-static force-stroke behavior, and demonstrate both a high-jumping and a fast pipe-crawling robot. Using embedded magnetic connections, we arranged multiple modules into reconfigurable robots with diverse functionality, including a high-stroke muscle, a multimodal active array, a table-top active platform, and a fast-rolling robot. We further leveraged the magnetic connections for hosting untethered, snap-on driving electronics, together highlighting the promise of HEXEL modules for creating rapidly reconfigurable high-speed robots.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 94","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142245153","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}

引用次数: 0

Social robot for at-home cognitive monitoring 用于居家认知监测的社交机器人

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-09-18 DOI: 10.1126/scirobotics.adt0930

Melisa Yashinski

引用次数: 0

Stretchable Arduinos embedded in soft robots 嵌入软体机器人的可伸缩 Arduinos

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-09-11 DOI: 10.1126/scirobotics.adn6844

Stephanie J. Woodman, Dylan S. Shah, Melanie Landesberg, Anjali Agrawala, Rebecca Kramer-Bottiglio

{"title":"Stretchable Arduinos embedded in soft robots","authors":"Stephanie J. Woodman, Dylan S. Shah, Melanie Landesberg, Anjali Agrawala, Rebecca Kramer-Bottiglio","doi":"10.1126/scirobotics.adn6844","DOIUrl":"10.1126/scirobotics.adn6844","url":null,"abstract":"<div >To achieve real-world functionality, robots must have the ability to carry out decision-making computations. However, soft robots stretch and therefore need a solution other than rigid computers. Examples of embedding computing capacity into soft robots currently include appending rigid printed circuit boards to the robot, integrating soft logic gates, and exploiting material responses for material-embedded computation. Although promising, these approaches introduce limitations such as rigidity, tethers, or low logic gate density. The field of stretchable electronics has sought to solve these challenges, but a complete pipeline for direct integration of single-board computers, microcontrollers, and other complex circuitry into soft robots has remained elusive. We present a generalized method to translate any complex two-layer circuit into a soft, stretchable form. This enabled the creation of stretchable single-board microcontrollers (including Arduinos) and other commercial circuits (including SparkFun circuits), without design simplifications. As demonstrations of the method’s utility, we embedded highly stretchable (>300% strain) Arduino Pro Minis into the bodies of multiple soft robots. This makes use of otherwise inert structural material, fulfilling the promise of the stretchable electronic field to integrate state-of-the-art computational power into robust, stretchable systems during active use.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 94","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142170411","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}

引用次数: 0

Visual seafloor mapping with autonomous robots 利用自主机器人绘制可视海底地图

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-09-11 DOI: 10.1126/scirobotics.ads9444

Amos Matsiko

引用次数: 0