Science Robotics最新文献_第6页

Reconfigurable nanomaterials folded from multicomponent chains of DNA origami voxels 由 DNA 折纸体块的多组分链折叠而成的可重构纳米材料。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-27 DOI: 10.1126/scirobotics.adp2309

Minh Tri Luu, Jonathan F. Berengut, Jiahe Li, Jing-Bing Chen, Jasleen Kaur Daljit Singh, Kanako Coffi Dit Glieze, Matthew Turner, Karuna Skipper, Sreelakshmi Meppat, Hannah Fowler, William Close, Jonathan P. K. Doye, Ali Abbas, Shelley F. J. Wickham

{"title":"Reconfigurable nanomaterials folded from multicomponent chains of DNA origami voxels","authors":"Minh Tri Luu, Jonathan F. Berengut, Jiahe Li, Jing-Bing Chen, Jasleen Kaur Daljit Singh, Kanako Coffi Dit Glieze, Matthew Turner, Karuna Skipper, Sreelakshmi Meppat, Hannah Fowler, William Close, Jonathan P. K. Doye, Ali Abbas, Shelley F. J. Wickham","doi":"10.1126/scirobotics.adp2309","DOIUrl":"10.1126/scirobotics.adp2309","url":null,"abstract":"<div >In cells, proteins rapidly self-assemble into sophisticated nanomachines. Bioinspired self-assembly approaches, such as DNA origami, have been used to achieve complex three-dimensional (3D) nanostructures and devices. However, current synthetic systems are limited by low yields in hierarchical assembly and challenges in rapid and efficient reconfiguration between diverse structures. Here, we developed a modular system of DNA origami “voxels” with programmable 3D connections. We demonstrate multifunctional pools of up to 12 unique voxels that can assemble into many shapes, prototyping 50 structures. Programmable switching of local connections between flexible and rigid states achieved rapid and reversible reconfiguration of global structures in three dimensions. Multistep assembly pathways were then explored to increase the yield. Voxels were assembled via flexible chain intermediates into rigid structures, increasing yield up to 100-fold. We envision that foldable chains of DNA origami voxels can achieve increased complexity in reconfigurable nanomaterials, providing modular components for the assembly of nanorobotic systems with future applications in synthetic biology, assembly of inorganic materials, and nanomedicine.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 96","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142741538","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

The force has limits: Molecular motors in robotics 力有极限机器人中的分子马达

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-27 DOI: 10.1126/scirobotics.adl0842

Henry Hess, Parag Katira, Juan B. Rodriguez III

引用次数: 0

Bioinspired designer DNA NanoGripper for virus sensing and potential inhibition 用于感知和抑制病毒的生物启发设计 DNA 纳米抓手。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-27 DOI: 10.1126/scirobotics.adi2084

Lifeng Zhou, Yanyu Xiong, Abhisek Dwivedy, Mengxi Zheng, Laura Cooper, Skye Shepherd, Tingjie Song, Wei Hong, Linh T. P. Le, Xin Chen, Saurabh Umrao, Lijun Rong, Tong Wang, Brian T. Cunningham, Xing Wang

{"title":"Bioinspired designer DNA NanoGripper for virus sensing and potential inhibition","authors":"Lifeng Zhou, Yanyu Xiong, Abhisek Dwivedy, Mengxi Zheng, Laura Cooper, Skye Shepherd, Tingjie Song, Wei Hong, Linh T. P. Le, Xin Chen, Saurabh Umrao, Lijun Rong, Tong Wang, Brian T. Cunningham, Xing Wang","doi":"10.1126/scirobotics.adi2084","DOIUrl":"10.1126/scirobotics.adi2084","url":null,"abstract":"<div >DNA has shown great biocompatibility, programmable mechanical properties, and precise structural addressability at the nanometer scale, rendering it a material for constructing versatile nanorobots for biomedical applications. Here, we present the design principle, synthesis, and characterization of a DNA nanorobotic hand, called DNA NanoGripper, that contains a palm and four bendable fingers as inspired by naturally evolved human hands, bird claws, and bacteriophages. Each NanoGripper finger consists of three phalanges connected by three rotatable joints that are bendable in response to the binding of other entities. NanoGripper functions are enabled and driven by the interactions between moieties attached to the fingers and their binding partners. We demonstrate that the NanoGripper can be engineered to effectively interact with and capture nanometer-scale objects, including gold nanoparticles, gold NanoUrchins, and SARS-CoV-2 virions. With multiple DNA aptamer nanoswitches programmed to generate a fluorescent signal that is enhanced on a photonic crystal platform, the NanoGripper functions as a highly sensitive biosensor that selectively detects intact SARS-CoV-2 virions in human saliva with a limit of detection of ~100 copies per milliliter, providing a sensitivity equal to that of reverse transcription quantitative polymerase chain reaction (RT-qPCR). Quantified by flow cytometry assays, we demonstrated that the NanoGripper-aptamer complex can effectively block viral entry into the host cells, suggesting its potential for inhibiting virus infections. The design, synthesis, and characterization of a sophisticated nanomachine that can be tailored for specific applications highlight a promising pathway toward feasible and efficient solutions to the detection and potential inhibition of virus infections.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 96","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142741536","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

Cybernetic avatars: Teleoperation technologies from in-body monitoring to social interaction 控制论化身：从体内监测到社交互动的远程操作技术。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-20 DOI: 10.1126/scirobotics.adg1842

Norihiro Hagita, Ryota Kanai, Hiroshi Ishiguro, Kouta Minamizawa, Fumihito Arai, Fumio Shimpo, Takeshi Matsumura, Yoko Yamanishi

引用次数: 0

A twist of the tail in turning maneuvers of bird-inspired drones 受鸟类启发的无人机在转弯时尾巴一扭

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-20 DOI: 10.1126/scirobotics.ado3890

Hoang-Vu Phan, Dario Floreano

{"title":"A twist of the tail in turning maneuvers of bird-inspired drones","authors":"Hoang-Vu Phan, Dario Floreano","doi":"10.1126/scirobotics.ado3890","DOIUrl":"10.1126/scirobotics.ado3890","url":null,"abstract":"<div >A banked turn is a common flight maneuver observed in birds and aircraft. To initiate the turn, whereas traditional aircraft rely on the wing ailerons, most birds use a variety of asymmetric wing-morphing control techniques to roll their bodies and thus redirect the lift vector to the direction of the turn. Nevertheless, when searching for prey, soaring raptors execute steady banked turns without exhibiting observable wing movements apart from the tail twisting around the body axis. Although tail twisting can compensate for adverse yaw, functioning similarly to the vertical tail in aircraft, how raptors use only tail twisting to perform banked turns is still not well understood. Here, we developed and used a raptor-inspired feathered drone to find that the proximity of the tail to the wings causes asymmetric wing-induced flows over the twisted tail and thus lift asymmetry, resulting in both roll and yaw moments sufficient to coordinate banked turns. Moreover, twisting the tail induces a nose-up pitch moment that increases the angle of attack of the wings, thereby generating more lift to compensate for losses caused by the banking motion. Flight experiments confirm the effectiveness of tail twist to control not only low-speed steady banked turns but also high-speed sharp turns by means of coordinated tail twist and pitch with asymmetric wing shape morphing. These findings contribute to the understanding of avian flight behaviors that are difficult to study in controlled laboratory settings and provide effective control strategies for agile drones with morphing aerial surfaces.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 96","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142678442","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

Robots and animals teaming up in the wild to tackle ecosystem challenges 机器人和动物在野外联手应对生态系统的挑战。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-20 DOI: 10.1126/scirobotics.ado5566

Thomas Schmickl, Donato Romano

引用次数: 0

Bird-inspired reflexive morphing enables rudderless flight 受鸟类启发的反射变形实现了无舵飞行

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-20 DOI: 10.1126/scirobotics.ado4535

Eric Chang, Diana D. Chin, David Lentink

{"title":"Bird-inspired reflexive morphing enables rudderless flight","authors":"Eric Chang, Diana D. Chin, David Lentink","doi":"10.1126/scirobotics.ado4535","DOIUrl":"10.1126/scirobotics.ado4535","url":null,"abstract":"<div >Gliding birds lack a vertical tail, yet they fly stably rudderless in turbulence without needing discrete flaps to steer. In contrast, nearly all airplanes need vertical tails to damp Dutch roll oscillations and to control yaw. The few exceptions that lack a vertical tail either leverage differential drag-based yaw actuators or their fixed planforms are carefully tuned for passively stable Dutch roll and proverse yaw. Biologists hypothesize that birds stabilize and control gliding flight without rudders by using their wing and tail reflexes, but no rudderless airplane has a morphing wing or tail that can change shape like a bird. Our rudderless biohybrid robot, PigeonBot II, can damp its Dutch roll instability (caused by lacking a vertical tail) and control flight by morphing its biomimetic wing and tail reflexively like a bird. The bird-inspired adaptive reflexive controller was tuned in a wind tunnel to mitigate turbulent perturbations, which enabled PigeonBot II to fly autonomously in the atmosphere with pigeon-like poses. This work is a mechanistic confirmation of how birds accomplish rudderless flight via reflex functions, and it can inspire rudderless aircraft with reduced radar signature and increased efficacy.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 96","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.ado4535","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142679110","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

NeuralFeels with neural fields: Visuotactile perception for in-hand manipulation 神经感觉与神经场手部操作的视觉触觉感知

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-13 DOI: 10.1126/scirobotics.adl0628

Sudharshan Suresh, Haozhi Qi, Tingfan Wu, Taosha Fan, Luis Pineda, Mike Lambeta, Jitendra Malik, Mrinal Kalakrishnan, Roberto Calandra, Michael Kaess, Joseph Ortiz, Mustafa Mukadam

{"title":"NeuralFeels with neural fields: Visuotactile perception for in-hand manipulation","authors":"Sudharshan Suresh, Haozhi Qi, Tingfan Wu, Taosha Fan, Luis Pineda, Mike Lambeta, Jitendra Malik, Mrinal Kalakrishnan, Roberto Calandra, Michael Kaess, Joseph Ortiz, Mustafa Mukadam","doi":"10.1126/scirobotics.adl0628","DOIUrl":"10.1126/scirobotics.adl0628","url":null,"abstract":"<div >To achieve human-level dexterity, robots must infer spatial awareness from multimodal sensing to reason over contact interactions. During in-hand manipulation of novel objects, such spatial awareness involves estimating the object’s pose and shape. The status quo for in-hand perception primarily uses vision and is restricted to tracking a priori known objects. Moreover, visual occlusion of objects in hand is imminent during manipulation, preventing current systems from pushing beyond tasks without occlusion. We combined vision and touch sensing on a multifingered hand to estimate an object’s pose and shape during in-hand manipulation. Our method, NeuralFeels, encodes object geometry by learning a neural field online and jointly tracks it by optimizing a pose graph problem. We studied multimodal in-hand perception in simulation and the real world, interacting with different objects via a proprioception-driven policy. Our experiments showed final reconstruction <i>F</i> scores of 81% and average pose drifts of 4.7 millimeters, which was further reduced to 2.3 millimeters with known object models. In addition, we observed that, under heavy visual occlusion, we could achieve improvements in tracking up to 94% compared with vision-only methods. Our results demonstrate that touch, at the very least, refines and, at the very best, disambiguates visual estimates during in-hand manipulation. We release our evaluation dataset of 70 experiments, FeelSight, as a step toward benchmarking in this domain. Our neural representation driven by multimodal sensing can serve as a perception backbone toward advancing robot dexterity.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 96","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-11-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adl0628","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142601978","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

Crucial hurdles to achieving human-robot harmony 实现人与机器人和谐相处的关键障碍。

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-13 DOI: 10.1126/scirobotics.adp2507

Keya Ghonasgi, Taylor Higgins, Meghan E. Huber, Marcia K. O’Malley

引用次数: 0

How much initiative should a service robot have? 服务机器人应该有多少主动权？

IF 26.1 1区计算机科学

Science Robotics Pub Date : 2024-11-13 DOI: 10.1126/scirobotics.adt8902

Robin R. Murphy

引用次数: 0