Science Robotics最新文献

{"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":"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":"Haptiknit: Distributed stiffness knitting for wearable haptics","authors":"Cosima du Pasquier,&nbsp;Lavender Tessmer,&nbsp;Ian Scholl,&nbsp;Liana Tilton,&nbsp;Tian Chen,&nbsp;Skylar Tibbits,&nbsp;Allison Okamura","doi":"10.1126/scirobotics.ado3887","DOIUrl":"10.1126/scirobotics.ado3887","url":null,"abstract":"<div >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.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 97","pages":""},"PeriodicalIF":26.1,"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":"Erratum for the Research Article “Restoration of grasping in an upper limb amputee using the myokinetic prosthesis with implanted magnets” by M. Gherardini et al.","authors":"","doi":"10.1126/scirobotics.adu7152","DOIUrl":"10.1126/scirobotics.adu7152","url":null,"abstract":"","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 97","pages":""},"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":"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,&nbsp;Sung Yol Yu,&nbsp;Woongbae Kim,&nbsp;Chunghoon Park,&nbsp;Kristine Yoonseo Lee,&nbsp;Kyu-Jin Cho","doi":"10.1126/scirobotics.ado3939","DOIUrl":"10.1126/scirobotics.ado3939","url":null,"abstract":"<div >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.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 97","pages":""},"PeriodicalIF":26.1,"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,&nbsp;Xiaotian Ma,&nbsp;Weiting Deng,&nbsp;Junhang Zhang,&nbsp;Songsong Tang,&nbsp;On Shun Pak,&nbsp;Lailai Zhu,&nbsp;Ernesto Criado-Hidalgo,&nbsp;Chen Gong,&nbsp;Emil Karshalev,&nbsp;Jounghyun Yoo,&nbsp;Ming You,&nbsp;Ann Liu,&nbsp;Canran Wang,&nbsp;Hao K. Shen,&nbsp;Payal N. Patel,&nbsp;Claire L. Hays,&nbsp;Peter J. Gunnarson,&nbsp;Lei Li,&nbsp;Yang Zhang,&nbsp;John O. Dabiri,&nbsp;Lihong V. Wang,&nbsp;Mikhail G. Shapiro,&nbsp;Di Wu,&nbsp;Qifa Zhou,&nbsp;Julia R. Greer,&nbsp;Wei Gao","doi":"10.1126/scirobotics.adp3593","DOIUrl":"10.1126/scirobotics.adp3593","url":null,"abstract":"<div >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.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 97","pages":""},"PeriodicalIF":26.1,"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}

{"title":"Monte Carlo tree search with spectral expansion for planning with dynamical systems","authors":"Benjamin Rivière,&nbsp;John Lathrop,&nbsp;Soon-Jo Chung","doi":"10.1126/scirobotics.ado1010","DOIUrl":"10.1126/scirobotics.ado1010","url":null,"abstract":"<div >The ability of a robot to plan complex behaviors with real-time computation, rather than adhering to predesigned or offline-learned routines, alleviates the need for specialized algorithms or training for each problem instance. Monte Carlo tree search is a powerful planning algorithm that strategically explores simulated future possibilities, but it requires a discrete problem representation that is irreconcilable with the continuous dynamics of the physical world. We present Spectral Expansion Tree Search (SETS), a real-time, tree-based planner that uses the spectrum of the locally linearized system to construct a low-complexity and approximately equivalent discrete representation of the continuous world. We prove that SETS converges to a bound of the globally optimal solution for continuous, deterministic, and differentiable Markov decision processes, a broad class of problems that includes underactuated nonlinear dynamics, nonconvex reward functions, and unstructured environments. We experimentally validated SETS on drone, spacecraft, and ground vehicle robots and one numerical experiment, each of which is not directly solvable with existing methods. We successfully show that SETS automatically discovers a diverse set of optimal behaviors and motion trajectories in real time.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 97","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142776657","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":"Upgrading and extending the life cycle of soft robots with in situ free-form liquid three-dimensional printing","authors":"Elgar Kanhere,&nbsp;Théo Calais,&nbsp;Snehal Jain,&nbsp;Aby Raj Plamootil Mathai,&nbsp;Aaron Chooi,&nbsp;Thileepan Stalin,&nbsp;Vincent Sebastian Joseph,&nbsp;Pablo Valdivia y Alvarado","doi":"10.1126/scirobotics.adn4542","DOIUrl":"10.1126/scirobotics.adn4542","url":null,"abstract":"<div >Soft robotics hardware, with numerous applications ranging from health care to exploration of unstructured environments, suffers from limited life cycles, which lead to waste generation and poor sustainability. Soft robots combine soft or hybrid components via complex assembly and disassembly workflows, which complicate the repair of broken components, hinder upgradability, and ultimately reduce their life spans. In this work, an advanced extrusion-based additive manufacturing process, in situ free-form liquid three-dimensional printing (iFL3DP), was developed to facilitate functional upgrades and repairs in soft robots. A yield-stress hydrogel—a type of material that can maintain its shape until sufficient stress is applied—was first printed directly onto the robot surface, serving as a support for printing new components. This technique enabled the fabrication of advanced components with seamless integration onto already assembled robots. These components could combine multiple materials with intricate geometries, including overhangs and high–aspect ratio shapes, that are considerably challenging to manufacture and integrate via traditional methods such as casting. This approach was successfully applied to upgrade an existing soft robot by adding three advanced functionalities: whisker-like sensors for tactile feedback, a grasping mechanism, and a multifunctional passive whisker array. This study showcases the easy repairability of features, new and old, substantially extending the robot’s life span. This workflow has potential to enhance the sustainable development of soft robots.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 97","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142776656","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}