Science Robotics最新文献

{"title":"Worm-like robot with integrated modular power","authors":"Melisa Yashinski","doi":"10.1126/scirobotics.adw9921","DOIUrl":"10.1126/scirobotics.adw9921","url":null,"abstract":"<div >An untethered crawling robot is self-powered by embedding a deformable battery cell within each actuation module.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 100","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143665525","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":"Augmenting rehabilitation robotics with spinal cord neuromodulation: A proof of concept","authors":"Nicolas Hankov, Miroslav Caban, Robin Demesmaeker, Margaux Roulet, Salif Komi, Michele Xiloyannis, Anne Gehrig, Camille Varescon, Martina Rebeka Spiess, Serena Maggioni, Chiara Basla, Gleb Koginov, Florian Haufe, Marina D’Ercole, Cathal Harte, Sergio D. Hernandez-Charpak, Aurelie Paley, Manon Tschopp, Natacha Herrmann, Nadine Intering, Edeny Baaklini, Francesco Acquati, Charlotte Jacquet, Anne Watrin, Jimmy Ravier, Frédéric Merlos, Grégoire Eberlé, Katrien Van den Keybus, Hendrik Lambert, Henri Lorach, Rik Buschman, Nicholas Buse, Timothy Denison, Dino De Bon, Jaime E. Duarte, Robert Riener, Auke Ijspeert, Fabien Wagner, Sebastian Tobler, Léonie Asboth, Joachim von Zitzewitz, Jocelyne Bloch, Grégoire Courtine","doi":"10.1126/scirobotics.adn5564","DOIUrl":"https://doi.org/10.1126/scirobotics.adn5564","url":null,"abstract":"Rehabilitation robotics aims to promote activity-dependent reorganization of the nervous system. However, people with paralysis cannot generate sufficient activity during robot-assisted rehabilitation and, consequently, do not benefit from these therapies. Here, we developed an implantable spinal cord neuroprosthesis operating in a closed loop to promote robust activity during walking and cycling assisted by robotic devices. This neuroprosthesis is device agnostic and designed for seamless implementation by nonexpert users. Preliminary evaluations in participants with paralysis showed that the neuroprosthesis enabled well-organized patterns of muscle activity during robot-assisted walking and cycling. A proof-of-concept study suggested that robot-assisted rehabilitation augmented by the neuroprosthesis promoted sustained neurological improvements. Moreover, the neuroprosthesis augmented recreational walking and cycling activities outdoors. Future clinical trials will have to confirm these findings in a broader population.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"7 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143599170","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":"Augmenting rehabilitation robotics with spinal cord neuromodulation: A proof of concept","authors":"Nicolas Hankov,&nbsp;Miroslav Caban,&nbsp;Robin Demesmaeker,&nbsp;Margaux Roulet,&nbsp;Salif Komi,&nbsp;Michele Xiloyannis,&nbsp;Anne Gehrig,&nbsp;Camille Varescon,&nbsp;Martina Rebeka Spiess,&nbsp;Serena Maggioni,&nbsp;Chiara Basla,&nbsp;Gleb Koginov,&nbsp;Florian Haufe,&nbsp;Marina D’Ercole,&nbsp;Cathal Harte,&nbsp;Sergio D. Hernandez-Charpak,&nbsp;Aurelie Paley,&nbsp;Manon Tschopp,&nbsp;Natacha Herrmann,&nbsp;Nadine Intering,&nbsp;Edeny Baaklini,&nbsp;Francesco Acquati,&nbsp;Charlotte Jacquet,&nbsp;Anne Watrin,&nbsp;Jimmy Ravier,&nbsp;Frédéric Merlos,&nbsp;Grégoire Eberlé,&nbsp;Katrien Van den Keybus,&nbsp;Hendrik Lambert,&nbsp;Henri Lorach,&nbsp;Rik Buschman,&nbsp;Nicholas Buse,&nbsp;Timothy Denison,&nbsp;Dino De Bon,&nbsp;Jaime E. Duarte,&nbsp;Robert Riener,&nbsp;Auke Ijspeert,&nbsp;Fabien Wagner,&nbsp;Sebastian Tobler,&nbsp;Léonie Asboth,&nbsp;Joachim von Zitzewitz,&nbsp;Jocelyne Bloch,&nbsp;Grégoire Courtine","doi":"","DOIUrl":"","url":null,"abstract":"<div >Rehabilitation robotics aims to promote activity-dependent reorganization of the nervous system. However, people with paralysis cannot generate sufficient activity during robot-assisted rehabilitation and, consequently, do not benefit from these therapies. Here, we developed an implantable spinal cord neuroprosthesis operating in a closed loop to promote robust activity during walking and cycling assisted by robotic devices. This neuroprosthesis is device agnostic and designed for seamless implementation by nonexpert users. Preliminary evaluations in participants with paralysis showed that the neuroprosthesis enabled well-organized patterns of muscle activity during robot-assisted walking and cycling. A proof-of-concept study suggested that robot-assisted rehabilitation augmented by the neuroprosthesis promoted sustained neurological improvements. Moreover, the neuroprosthesis augmented recreational walking and cycling activities outdoors. Future clinical trials will have to confirm these findings in a broader population.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 100","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143602904","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":"Social robots as conversational catalysts: Enhancing long-term human-human interaction at home","authors":"Huili Chen, Yubin Kim, Kejia Patterson, Cynthia Breazeal, Hae Won Park","doi":"10.1126/scirobotics.adk3307","DOIUrl":"https://doi.org/10.1126/scirobotics.adk3307","url":null,"abstract":"The integration of social robots into family environments raises critical questions about their long-term influence on family interactions. This study explores the potential of social robots as conversational catalysts in human-human dyadic interaction, focusing on enhancing high-quality, reciprocal conversations between parents and children during dialogic coreading activities. With the increasing prevalence of social robots in homes and the recognized importance of parent-child exchanges for children’s developmental milestones, this work presents a comprehensive empirical investigation involving more than 70 parent-child dyads over a period of 1 to 2 months. We examined the effects of three robot interaction styles—a passive robot listener, an active robot with a fixed behavior strategy, and an active robot with a strategy-switching mechanism—on parent-child conversational dynamics. Our findings reveal that a robot’s active participation enhances the quality of parent-child dialogic conversations. The influence of robot facilitation varied on the basis of parental English proficiency. Strategy-switching robots provided greater benefits to non–native English–speaking families, whereas dyads with native English–speaking parents benefited more from fixed-strategy robots. Overall, this study highlights the promise of social robots that empower parents in fostering their children’s dialogic development—a contrast with the prevalent design of educational robots that primarily target children. It provides critical insights into the equitable, nuanced design of long-term family-robot interactions at home, especially in supporting diverse family backgrounds.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"5 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143599127","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":"Social robots as conversational catalysts: Enhancing long-term human-human interaction at home","authors":"Huili Chen,&nbsp;Yubin Kim,&nbsp;Kejia Patterson,&nbsp;Cynthia Breazeal,&nbsp;Hae Won Park","doi":"","DOIUrl":"","url":null,"abstract":"<div >The integration of social robots into family environments raises critical questions about their long-term influence on family interactions. This study explores the potential of social robots as conversational catalysts in human-human dyadic interaction, focusing on enhancing high-quality, reciprocal conversations between parents and children during dialogic coreading activities. With the increasing prevalence of social robots in homes and the recognized importance of parent-child exchanges for children’s developmental milestones, this work presents a comprehensive empirical investigation involving more than 70 parent-child dyads over a period of 1 to 2 months. We examined the effects of three robot interaction styles—a passive robot listener, an active robot with a fixed behavior strategy, and an active robot with a strategy-switching mechanism—on parent-child conversational dynamics. Our findings reveal that a robot’s active participation enhances the quality of parent-child dialogic conversations. The influence of robot facilitation varied on the basis of parental English proficiency. Strategy-switching robots provided greater benefits to non–native English–speaking families, whereas dyads with native English–speaking parents benefited more from fixed-strategy robots. Overall, this study highlights the promise of social robots that empower parents in fostering their children’s dialogic development—a contrast with the prevalent design of educational robots that primarily target children. It provides critical insights into the equitable, nuanced design of long-term family-robot interactions at home, especially in supporting diverse family backgrounds.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 100","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adk3307","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143602929","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}

{"title":"A springtail-inspired multimodal walking-jumping microrobot","authors":"Francisco Ramirez Serrano, Nak-seung Patrick Hyun, Emma Steinhardt, Pierre-Louis Lechère, Robert J. Wood","doi":"10.1126/scirobotics.adp7854","DOIUrl":"https://doi.org/10.1126/scirobotics.adp7854","url":null,"abstract":"Although legged robots have demonstrated effective mobility in some natural settings, as robot size decreases, obstacles in their environment become challenging to overcome. Small arthropods scale obstacles many times their size through jumps powered by mechanisms that overcome speed and power limitations of muscle alone. The motivation for this study was to explore the marriage of impulsive (jumping) and nonimpulsive (cyclic legged ambulation) behaviors in a centimeter-scale robot. Here, jumping is achieved by striking the ground with a bioinspired appendage connected to a parallel linkage. As the linkage configuration passes through the singularity, a torque reversal occurs whereby elastic energy slowly stored by force-dense velocity-limited shape memory alloy actuators is rapidly released. A passively driven elastic hinge is introduced in the striking arm to mediate ground contact forces and direct jumping. High-speed video recording of the 14-millisecond launch phase reveals previously undocumented takeoff dynamics closely resembling those of springtails. A dynamic model was derived, and an experimentally validated simulation was used to optimize the design of key components. The 2.2-gram, 6.1-centimeter-long mechanism achieved a maximum horizontal jumping distance of 1.4 meters (23 body lengths), surpassing that of similarly sized insects. The mechanism was integrated with an agile quadrupedal microrobot with leg articulation suitable to achieve the ideal jumping posture. The platform demonstrated repeatable directional takeoffs and upright landings, enabling complex maneuvers to overcome obstacles and gaps. Last, we used this bioinspired robot to offer reflection on hypotheses related to springtail jumping behavior.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"129 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143507136","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":"Telesurgery and the importance of context","authors":"Florian Heemeyer,&nbsp;Quentin Boehler,&nbsp;Minsoo Kim,&nbsp;Bernard R. Bendok,&nbsp;Evelyn L. Turcotte,&nbsp;H. Hunt Batjer,&nbsp;Ryan D. Madder,&nbsp;Vitor M. Pereira,&nbsp;Bradley J. Nelson","doi":"","DOIUrl":"","url":null,"abstract":"<div >Telesurgery has the potential to overcome geographical barriers in surgical care, encouraging its deployment in areas with sparse surgical expertise. Despite successful in-human experiments and substantial technological progress, the adoption of telesurgery remains slow. In this Review, we analyze the reasons for this slow adoption. First, we identify various contexts for telesurgery and highlight the vastly different requirements for their realization. We then discuss why procedures with high urgency and skill sparsity are particularly suitable for telesurgery. Last, we summarize key research areas essential for further progress. The goal of this Review is to provide the reader with a comprehensive analysis of the current state of telesurgery research and to provide guidance for faster adoption of this exciting technology.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 99","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143513969","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":"Virtual elasto-plastic robot compliance to active environments","authors":"Michael Panzirsch, Harsimran Singh, Xuwei Wu, Maged Iskandar, Anne Koepken, Rute Luz, Nesrine Batti, Florian S. Lay, Ajithkumar Narayanan Manaparampil, Luisa Mayershofer, Xiaozhou Luo, Robert Burger, Samuel Bustamante-Gomez, Jörg Butterfass, Emiel den Exter, Werner Friedl, Thomas Gumpert, Pedro Pavelski, Gabriel Quere, Florian Schmidt, Alin Albu-Schaeffer, Adrian S. Bauer, Daniel Leidner, Peter Schmaus, Annette Hagengruber, Thomas Krueger, Jörn Vogel, Neal Y. Lii","doi":"10.1126/scirobotics.adq1703","DOIUrl":"https://doi.org/10.1126/scirobotics.adq1703","url":null,"abstract":"Humans exhibit a particular compliant behavior in interactions with their environment. Facilitated by fast physical reasoning, humans are able to rapidly alter their compliance, enhancing robustness and safety in active environments. Transferring these capabilities to robotics is of utmost importance particularly as major space agencies begin investigating the potential of cooperative robotic teams in space. In this scenario, robots in orbit or on planetary surfaces are meant to support astronauts in exploration, maintenance, and habitat building to reduce costs and risks of space missions. A major challenge for interactive robot teams is establishing the capability to act in and interact with dynamic environments. Analogous to humans, the robot should be not only particularly compliant in case of unexpected collisions with other systems but also able to cooperatively handle objects requiring accurate pose estimation and fast trajectory planning. Here, we show that these challenges can be attenuated through an enhancement of active robot compliance introducing a virtual plastic first-order impedance component. We present how elasto-plastic compliance can be realized via energy-based detection of active environments and how evasive motions can be enabled through adaptive plastic compliance. Two space teleoperation experiments using different robotic assets confirm the potential of the method to enhance robustness in interaction with articulated objects and facilitate robot cooperation. An experiment in a health care facility presents how the same method analogously solidifies robotic interactions in human-robot shared environments by giving the robot a subordinate role.","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"28 1","pages":""},"PeriodicalIF":25.0,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143506840","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":"Wearable robot provides lumbar and arm support","authors":"Melisa Yashinski","doi":"","DOIUrl":"","url":null,"abstract":"<div >Exosuit with two-stage mechanism transmits force from a single motor to multiple muscle groups during manual handling tasks.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 99","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143513952","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 springtail-inspired multimodal walking-jumping microrobot","authors":"Francisco Ramirez Serrano,&nbsp;Nak-seung Patrick Hyun,&nbsp;Emma Steinhardt,&nbsp;Pierre-Louis Lechère,&nbsp;Robert J. Wood","doi":"","DOIUrl":"","url":null,"abstract":"<div >Although legged robots have demonstrated effective mobility in some natural settings, as robot size decreases, obstacles in their environment become challenging to overcome. Small arthropods scale obstacles many times their size through jumps powered by mechanisms that overcome speed and power limitations of muscle alone. The motivation for this study was to explore the marriage of impulsive (jumping) and nonimpulsive (cyclic legged ambulation) behaviors in a centimeter-scale robot. Here, jumping is achieved by striking the ground with a bioinspired appendage connected to a parallel linkage. As the linkage configuration passes through the singularity, a torque reversal occurs whereby elastic energy slowly stored by force-dense velocity-limited shape memory alloy actuators is rapidly released. A passively driven elastic hinge is introduced in the striking arm to mediate ground contact forces and direct jumping. High-speed video recording of the 14-millisecond launch phase reveals previously undocumented takeoff dynamics closely resembling those of springtails. A dynamic model was derived, and an experimentally validated simulation was used to optimize the design of key components. The 2.2-gram, 6.1-centimeter-long mechanism achieved a maximum horizontal jumping distance of 1.4 meters (23 body lengths), surpassing that of similarly sized insects. The mechanism was integrated with an agile quadrupedal microrobot with leg articulation suitable to achieve the ideal jumping posture. The platform demonstrated repeatable directional takeoffs and upright landings, enabling complex maneuvers to overcome obstacles and gaps. Last, we used this bioinspired robot to offer reflection on hypotheses related to springtail jumping behavior.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"10 99","pages":""},"PeriodicalIF":26.1,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143513971","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}