Science Robotics最新文献

{"title":"Exploring beyond Earth using space robotics","authors":"Steve A. Chien,&nbsp;Gianfranco Visentin,&nbsp;Connor Basich","doi":"10.1126/scirobotics.adi6424","DOIUrl":"10.1126/scirobotics.adi6424","url":null,"abstract":"<div >Robotic spacecraft enable exploration of our Solar System beyond our human presence. Although spacecraft have explored every planet in the Solar System, the frontiers of space robotics are at the cutting edge of landers, rovers, and now atmospheric explorers, where robotic spacecraft must interact intimately with their environment to explore beyond the reach of flyby and orbital remote sensing. Here, we describe the tremendous growth in space robotics missions in the past 7 years, with many new entities participating in missions to the surface of the Moon, Mars, and beyond. We also describe the recent development of aerial missions to planets and moons, as exemplified by the Ingenuity helicopter on Mars and the Dragonfly mission to Titan. We focus on suborbital robotics—landers, rovers, and aerial vehicles—with associated challenges in sensing, manipulation, mobility, and system-level autonomy.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 91","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141428405","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":"Optimality principles in spacecraft neural guidance and control","authors":"Dario Izzo,&nbsp;Emmanuel Blazquez,&nbsp;Robin Ferede,&nbsp;Sebastien Origer,&nbsp;Christophe De Wagter,&nbsp;Guido C. H. E. de Croon","doi":"10.1126/scirobotics.adi6421","DOIUrl":"10.1126/scirobotics.adi6421","url":null,"abstract":"<div >This Review discusses the main results obtained in training end-to-end neural architectures for guidance and control of interplanetary transfers, planetary landings, and close-proximity operations, highlighting the successful learning of optimality principles by the underlying neural models. Spacecraft and drones aimed at exploring our solar system are designed to operate in conditions where the smart use of onboard resources is vital to the success or failure of the mission. Sensorimotor actions are thus often derived from high-level, quantifiable, optimality principles assigned to each task, using consolidated tools in optimal control theory. The planned actions are derived on the ground and transferred on board, where controllers have the task of tracking the uploaded guidance profile. Here, we review recent trends based on the use of end-to-end networks, called guidance and control networks (G&amp;CNets), which allow spacecraft to depart from such an architecture and to embrace the onboard computation of optimal actions. In this way, the sensor information is transformed in real time into optimal plans, thus increasing mission autonomy and robustness. We then analyze drone racing as an ideal gym environment to test these architectures on real robotic platforms and thus increase confidence in their use in future space exploration missions. Drone racing not only shares with spacecraft missions both limited onboard computational capabilities and similar control structures induced from the optimality principle sought but also entails different levels of uncertainties and unmodeled effects and a very different dynamical timescale.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 91","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adi6421","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141428406","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":"Soft robotic platform for progressive and reversible aortic constriction in a small-animal model","authors":"Luca Rosalia,&nbsp;Sophie X. Wang,&nbsp;Caglar Ozturk,&nbsp;Wei Huang,&nbsp;Jean Bonnemain,&nbsp;Rachel Beatty,&nbsp;Garry P. Duffy,&nbsp;Christopher T. Nguyen,&nbsp;Ellen T. Roche","doi":"10.1126/scirobotics.adj9769","DOIUrl":"10.1126/scirobotics.adj9769","url":null,"abstract":"<div >Our understanding of cardiac remodeling processes due to left ventricular pressure overload derives largely from animal models of aortic banding. However, these studies fail to enable control over both disease progression and reversal, hindering their clinical relevance. Here, we describe a method for progressive and reversible aortic banding based on an implantable expandable actuator that can be finely tuned to modulate aortic banding and debanding in a rat model. Through catheterization, imaging, and histologic studies, we demonstrate that our platform can recapitulate the hemodynamic and structural changes associated with pressure overload in a controllable manner. We leveraged soft robotics to enable noninvasive aortic debanding, demonstrating that these changes can be partly reversed because of cessation of the biomechanical stimulus. By recapitulating longitudinal disease progression and reversibility, this animal model could elucidate fundamental mechanisms of cardiac remodeling and optimize timing of intervention for pressure overload.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 91","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141312407","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 portable inflatable soft wearable robot to assist the shoulder during industrial work","authors":"Yu Meng Zhou,&nbsp;Cameron J. Hohimer,&nbsp;Harrison T. Young,&nbsp;Connor M. McCann,&nbsp;David Pont-Esteban,&nbsp;Umut S. Civici,&nbsp;Yichu Jin,&nbsp;Patrick Murphy,&nbsp;Diana Wagner,&nbsp;Tazzy Cole,&nbsp;Nathan Phipps,&nbsp;Haedo Cho,&nbsp;Franchesco Bertacchi,&nbsp;Isabella Pignataro,&nbsp;Tommaso Proietti,&nbsp;Conor J. Walsh","doi":"10.1126/scirobotics.adi2377","DOIUrl":"10.1126/scirobotics.adi2377","url":null,"abstract":"<div >Repetitive overhead tasks during factory work can cause shoulder injuries resulting in impaired health and productivity loss. Soft wearable upper extremity robots have the potential to be effective injury prevention tools with minimal restrictions using soft materials and active controls. We present the design and evaluation of a portable inflatable shoulder wearable robot for assisting industrial workers during shoulder-elevated tasks. The robot is worn like a shirt with integrated textile pneumatic actuators, inertial measurement units, and a portable actuation unit. It can provide up to 6.6 newton-meters of torque to support the shoulder and cycle assistance on and off at six times per minute. From human participant evaluations during simulated industrial tasks, the robot reduced agonist muscle activities (anterior, middle, and posterior deltoids and biceps brachii) by up to 40% with slight changes in joint angles of less than 7% range of motion while not increasing antagonistic muscle activity (latissimus dorsi) in current sample size. Comparison of controller parameters further highlighted that higher assistance magnitude and earlier assistance timing resulted in statistically significant muscle activity reductions. During a task circuit with dynamic transitions among the tasks, the kinematics-based controller of the robot showed robustness to misinflations (96% true negative rate and 91% true positive rate), indicating minimal disturbances to the user when assistance was not required. A preliminary evaluation of a pressure modulation profile also highlighted a trade-off between user perception and hardware demands. Finally, five automotive factory workers used the robot in a pilot manufacturing area and provided feedback.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 91","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adi2377","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141312405","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":"Conductive block copolymer elastomers and psychophysical thresholding for accurate haptic effects","authors":"Rachel Blau,&nbsp;Abdulhameed Abdal,&nbsp;Nicholas Root,&nbsp;Alexander X. Chen,&nbsp;Tarek Rafeedi,&nbsp;Robert Ramji,&nbsp;Yi Qie,&nbsp;Taewoo Kim,&nbsp;Anthony Navarro,&nbsp;Jason Chin,&nbsp;Laura L. Becerra,&nbsp;Samuel J. Edmunds,&nbsp;Samantha M. Russman,&nbsp;Shadi A. Dayeh,&nbsp;David P. Fenning,&nbsp;Romke Rouw,&nbsp;Darren J. Lipomi","doi":"10.1126/scirobotics.adk3925","DOIUrl":"10.1126/scirobotics.adk3925","url":null,"abstract":"<div >Electrotactile stimulus is a form of sensory substitution in which an electrical signal is perceived as a mechanical sensation. The electrotactile effect could, in principle, recapitulate a range of tactile experience by selective activation of nerve endings. However, the method has been plagued by inconsistency, galvanic reactions, pain and desensitization, and unwanted stimulation of nontactile nerves. Here, we describe how a soft conductive block copolymer, a stretchable layout, and concentric electrodes, along with psychophysical thresholding, can circumvent these shortcomings. These purpose-designed materials, device layouts, and calibration techniques make it possible to generate accurate and reproducible sensations across a cohort of 10 human participants and to do so at ultralow currents (≥6 microamperes) without pain or desensitization. This material, form factor, and psychophysical approach could be useful for haptic devices and as a tool for activation of the peripheral nervous system.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 91","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141312406","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":"Avian eye–inspired perovskite artificial vision system for foveated and multispectral imaging","authors":"Jinhong Park,&nbsp;Min Seok Kim,&nbsp;Joonsoo Kim,&nbsp;Sehui Chang,&nbsp;Mincheol Lee,&nbsp;Gil Ju Lee,&nbsp;Young Min Song,&nbsp;Dae-Hyeong Kim","doi":"10.1126/scirobotics.adk6903","DOIUrl":"10.1126/scirobotics.adk6903","url":null,"abstract":"<div >Avian eyes have deep central foveae as a result of extensive evolution. Deep foveae efficiently refract incident light, creating a magnified image of the target object and making it easier to track object motion. These features are essential for detecting and tracking remote objects in dynamic environments. Furthermore, avian eyes respond to a wide spectrum of light, including visible and ultraviolet light, allowing them to efficiently distinguish the target object from complex backgrounds. Despite notable advances in artificial vision systems that mimic animal vision, the exceptional object detection and targeting capabilities of avian eyes via foveated and multispectral imaging remain underexplored. Here, we present an artificial vision system that capitalizes on these aspects of avian vision. We introduce an artificial fovea and vertically stacked perovskite photodetector arrays whose designs were optimized by theoretical simulations for the demonstration of foveated and multispectral imaging. The artificial vision system successfully identifies colored and mixed-color objects and detects remote objects through foveated imaging. The potential for use in uncrewed aerial vehicles that need to detect, track, and recognize distant targets in dynamic environments is also discussed. Our avian eye–inspired perovskite artificial vision system marks a notable advance in bioinspired artificial visions.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 90","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adk6903","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141176848","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":"Evaluating initial usability of a hand augmentation device across a large and diverse sample","authors":"Dani Clode,&nbsp;Lucy Dowdall,&nbsp;Edmund da Silva,&nbsp;Klara Selén,&nbsp;Dorothy Cowie,&nbsp;Giulia Dominijanni,&nbsp;Tamar R. Makin","doi":"10.1126/scirobotics.adk5183","DOIUrl":"10.1126/scirobotics.adk5183","url":null,"abstract":"<div >The advancement of motor augmentation and the broader domain of human-machine interaction rely on a seamless integration with users’ physical and cognitive capabilities. These considerations may markedly fluctuate among individuals on the basis of their age, form, and abilities. There is a need to develop a standard for considering these diversity needs and preferences to guide technological development, and large-scale testing can provide us with evidence for such considerations. Public engagement events provide an important opportunity to build a bidirectional discourse with potential users for the codevelopment of inclusive and accessible technologies. We exhibited the Third Thumb, a hand augmentation device, at a public engagement event and tested participants from the general public, who are often not involved in such early technological development of wearable robotic technology. We focused on wearability (fit and control), ability to successfully operate the device, and ability levels across diversity factors relevant for physical technologies (gender, handedness, and age). Our inclusive design was successful in 99.3% of our diverse sample of 596 individuals tested (age range from 3 to 96 years). Ninety-eight percent of participants were further able to successfully manipulate objects using the extra thumb during the first minute of use, with no significant influences of gender, handedness, or affinity for hobbies involving the hands. Performance was generally poorer among younger children (aged ≤11 years). Although older and younger adults performed the task comparably, we identified age costs with the older adults. Our findings offer tangible demonstration of the initial usability of the Third Thumb for a broad demographic.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 90","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141176868","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":"Avian eye–inspired artificial vision takes a step forward","authors":"Qing Liu,&nbsp;Yihui Zhang","doi":"10.1126/scirobotics.adp5682","DOIUrl":"10.1126/scirobotics.adp5682","url":null,"abstract":"<div >Bioinspiration from avian eyes allows development of artificial vision systems with foveated and multispectral imaging.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 90","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141176845","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":"Excitation of natural spinal reflex loops in the sensory-motor control of hand prostheses","authors":"Patrick G. Sagastegui Alva,&nbsp;Anna Boesendorfer,&nbsp;Oskar C. Aszmann,&nbsp;Jaime Ibáñez,&nbsp;Dario Farina","doi":"10.1126/scirobotics.adl0085","DOIUrl":"10.1126/scirobotics.adl0085","url":null,"abstract":"<div >Sensory feedback for prosthesis control is typically based on encoding sensory information in specific types of sensory stimuli that the users interpret to adjust the control of the prosthesis. However, in physiological conditions, the afferent feedback received from peripheral nerves is not only processed consciously but also modulates spinal reflex loops that contribute to the neural information driving muscles. Spinal pathways are relevant for sensory-motor integration, but they are commonly not leveraged for prosthesis control. We propose an approach to improve sensory-motor integration for prosthesis control based on modulating the excitability of spinal circuits through the vibration of tendons in a closed loop with muscle activity. We measured muscle signals in healthy participants and amputees during different motor tasks, and we closed the loop by applying vibration on tendons connected to the muscles, which modulated the excitability of motor neurons. The control signals to the prosthesis were thus the combination of voluntary control and additional spinal reflex inputs induced by tendon vibration. Results showed that closed-loop tendon vibration was able to modulate the neural drive to the muscles. When closed-loop tendon vibration was used, participants could achieve similar or better control performance in interfaces using muscle activation than without stimulation. Stimulation could even improve prosthetic grasping in amputees. Overall, our results indicate that closed-loop tendon vibration can integrate spinal reflex pathways in the myocontrol system and open the possibility of incorporating natural feedback loops in prosthesis control.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 90","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141176870","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":"Microsaccade-inspired event camera for robotics","authors":"Botao He,&nbsp;Ze Wang,&nbsp;Yuan Zhou,&nbsp;Jingxi Chen,&nbsp;Chahat Deep Singh,&nbsp;Haojia Li,&nbsp;Yuman Gao,&nbsp;Shaojie Shen,&nbsp;Kaiwei Wang,&nbsp;Yanjun Cao,&nbsp;Chao Xu,&nbsp;Yiannis Aloimonos,&nbsp;Fei Gao,&nbsp;Cornelia Fermüller","doi":"10.1126/scirobotics.adj8124","DOIUrl":"10.1126/scirobotics.adj8124","url":null,"abstract":"<div >Neuromorphic vision sensors or event cameras have made the visual perception of extremely low reaction time possible, opening new avenues for high-dynamic robotics applications. These event cameras’ output is dependent on both motion and texture. However, the event camera fails to capture object edges that are parallel to the camera motion. This is a problem intrinsic to the sensor and therefore challenging to solve algorithmically. Human vision deals with perceptual fading using the active mechanism of small involuntary eye movements, the most prominent ones called microsaccades. By moving the eyes constantly and slightly during fixation, microsaccades can substantially maintain texture stability and persistence. Inspired by microsaccades, we designed an event-based perception system capable of simultaneously maintaining low reaction time and stable texture. In this design, a rotating wedge prism was mounted in front of the aperture of an event camera to redirect light and trigger events. The geometrical optics of the rotating wedge prism allows for algorithmic compensation of the additional rotational motion, resulting in a stable texture appearance and high informational output independent of external motion. The hardware device and software solution are integrated into a system, which we call artificial microsaccade–enhanced event camera (AMI-EV). Benchmark comparisons validated the superior data quality of AMI-EV recordings in scenarios where both standard cameras and event cameras fail to deliver. Various real-world experiments demonstrated the potential of the system to facilitate robotics perception both for low-level and high-level vision tasks.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 90","pages":""},"PeriodicalIF":25.0,"publicationDate":"2024-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141176872","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}