Journal of Bionic Engineering最新文献_第8页

Hydrodynamic Characteristic Analysis of a Biomimetic Underwater Vehicle-Manipulator System 仿生水下机器人-机械臂系统的水动力特性分析

IF 4.9 3区计算机科学

Journal of Bionic Engineering Pub Date : 2025-02-12 DOI: 10.1007/s42235-024-00646-9

Hongfei Chu, Xiaolong Hui, Xuejian Bai, Min Tan, Yu Wang

{"title":"Hydrodynamic Characteristic Analysis of a Biomimetic Underwater Vehicle-Manipulator System","authors":"Hongfei Chu, Xiaolong Hui, Xuejian Bai, Min Tan, Yu Wang","doi":"10.1007/s42235-024-00646-9","DOIUrl":"10.1007/s42235-024-00646-9","url":null,"abstract":"<div><p>The propulsion mechanisms of biomimetic underwater vehicles using bionic undulatory fins have been extensively studied for their potential to enhance efficiency and maneuverability in underwater environments. However, the hydrodynamic interactions between the vehicle body, robotic manipulator, and fluctuating motion remain less explored, particularly in turbulent conditions. In this work, a Biomimetic Underwater Vehicle-Manipulator System (BUVMS) propelled using bionic undulatory fins is considered. The propulsion mechanism and hydrodynamic performance of fluctuating motion are analyzed by numerical simulation. The drag coefficients of the BUVMS at different Reynolds numbers are calculated, and the investigation of vortex generation during the motion of the BUVMS reveals that vortex binding and shedding are the key factors for propulsion generation. Various moving modes of the BUVMS are developed in conjunction with the propulsion mechanism. The hydrodynamic loads during the motion of the underwater robotic arm in a turbulent environment are analyzed. A simple motion strategy is proposed to reduce the effect of water drag on the manipulation of the robotic arm and on the overall stability of the BUVMS. The results of the hydrodynamic analysis offer systematic guidance for controlling underwater operations of the BUVMS.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"22 2","pages":"654 - 669"},"PeriodicalIF":4.9,"publicationDate":"2025-02-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143655146","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

3D Printed Gear-Based Quasi-Zero Stiffness Vibration Isolation Metastructure 基于3D打印齿轮的准零刚度隔振元结构

IF 4.9 3区计算机科学

Journal of Bionic Engineering Pub Date : 2025-02-10 DOI: 10.1007/s42235-025-00659-y

Gexin Wang, Jianyang Li, Yan Liu, Kunyan Wang, Luquan Ren, Qingping Liu, Lei Ren, Bingqian Li

{"title":"3D Printed Gear-Based Quasi-Zero Stiffness Vibration Isolation Metastructure","authors":"Gexin Wang, Jianyang Li, Yan Liu, Kunyan Wang, Luquan Ren, Qingping Liu, Lei Ren, Bingqian Li","doi":"10.1007/s42235-025-00659-y","DOIUrl":"10.1007/s42235-025-00659-y","url":null,"abstract":"<div><p>Traditional linear vibration isolators struggle to combine high load-bearing capacity with low-frequency vibration isolation, whereas nonlinear metastructure isolators can effectively fulfill both functions. This paper draws inspiration from the Quasi-Zero Stiffness (QZS) characteristics resulting from the buckling deformation of beams, and proposes a gear-based QZS structure by arranging beams in a circular array. We investigated the static mechanical behavior under different structural parameters, loading angles, and gear combinations through experiments and simulations, and demonstrated the mechanical performances could be effectively programmed. Subsequent vibration isolation tests on the double gears prove superior vibration isolation performance at low frequency while maintaining high load-bearing capacities. Additionally, a key contribution of our work is the development of a mathematical model to characterize the buckling behavior of the unit beam within the gear structure, with its accuracy validated through finite element analysis and experimental results. The gear’s modulus, number of teeth, and pressure angle are selected according to standard series, allowing the gear can be seamlessly integrated into existing mechanical systems in critical fields such as aerospace, military, and etc.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"22 2","pages":"767 - 782"},"PeriodicalIF":4.9,"publicationDate":"2025-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143655237","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Dual-responsive Tumbleweed-inspired Soft Robot Based on Poly(N‑isopropylacrylamide) and MoS2 for Targeted Drug Delivery in Stomach 基于聚（N -异丙基丙烯酰胺）和二硫化钼的双响应风滚草软机器人胃靶向给药

IF 4.9 3区计算机科学

Journal of Bionic Engineering Pub Date : 2025-02-07 DOI: 10.1007/s42235-025-00650-7

Xiangyu Teng, Shuxuan Yu, Zezheng Qiao, Zhixing Ge, Wenguang Yang

引用次数: 0

A Soft Glove with Proprioceptive Sensing and Multi-modal Haptic Feedback for VR and Telerobotic Applications 一种具有本体感觉和多模态触觉反馈的虚拟现实和远程机器人应用软手套

IF 4.9 3区计算机科学

Journal of Bionic Engineering Pub Date : 2025-02-07 DOI: 10.1007/s42235-024-00642-z

Debadrata Sarkar, Amit Kumar, Aman Arora

{"title":"A Soft Glove with Proprioceptive Sensing and Multi-modal Haptic Feedback for VR and Telerobotic Applications","authors":"Debadrata Sarkar, Amit Kumar, Aman Arora","doi":"10.1007/s42235-024-00642-z","DOIUrl":"10.1007/s42235-024-00642-z","url":null,"abstract":"<div><p>This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"22 2","pages":"684 - 702"},"PeriodicalIF":4.9,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143655230","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 Biomimetic Stress Field Modulation Strategy Inspired by Scorpion Compound Slit Sensilla Enabled High-Accuracy and Low-Power Positioning Sensor for Identifying the Load Incident Angles 受蝎子复合狭缝传感器启发的仿生应力场调制策略可实现高精度、低功耗定位传感器，用于识别负载入射角度

IF 4.9 3区计算机科学

Journal of Bionic Engineering Pub Date : 2025-02-07 DOI: 10.1007/s42235-025-00661-4

Junqiu Zhang, Yu Chen, Haoran Li, Jiqi Gao, Xiangbo Gu, Jiachao Wu, Xiaojing Qin, Kejun Wang, Bin Zhu, Daobing Chen, Tao Sun, Jianhua Fan, Zhiwu Han, Luquan Ren

{"title":"A Biomimetic Stress Field Modulation Strategy Inspired by Scorpion Compound Slit Sensilla Enabled High-Accuracy and Low-Power Positioning Sensor for Identifying the Load Incident Angles","authors":"Junqiu Zhang, Yu Chen, Haoran Li, Jiqi Gao, Xiangbo Gu, Jiachao Wu, Xiaojing Qin, Kejun Wang, Bin Zhu, Daobing Chen, Tao Sun, Jianhua Fan, Zhiwu Han, Luquan Ren","doi":"10.1007/s42235-025-00661-4","DOIUrl":"10.1007/s42235-025-00661-4","url":null,"abstract":"<div><p>Numerous arthropods evolve and optimize sensory systems, enabling them to effectively adapt complex and competitive habitats. Typically, scorpions can precisely perceive the prey location with the lowest metabolic rate among invertebrates. This biological phenomenon contrasts sharply with engineered systems, which generally associates high accuracy with substantial energy consumption. Inspired by the Scorpion Compound Slit Sensilla (SCSS) with a stress field modulation strategy, a bionic positioning sensor with superior precision and minimal power consumption is developed for the first time, which utilizes the particular Minimum Positioning Units (MPUs) to efficiently locate vibration signals. The single MPU of the SCSS can recognize the direction of collinear loads by regulating the stress field distribution and further, the coupling action of three MPUs can realize all-angle vibration monitoring in plane. Experiments demonstrate that the bionic positioning sensor achieves 1.43 degrees of angle-error-free accuracy without additional energy supply. As a proof of concept, two bionic positioning sensors and machine learning algorithm are integrated to provide centimeter (cm)-accuracy target localization, ideally suited for the man-machine interaction. The novel design offers a new mechanism for the design of traditional positioning devices, improving precision and efficiency in both the meta-universe and real-world Internet-connected systems.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"22 2","pages":"727 - 738"},"PeriodicalIF":4.9,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143655231","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Adaptive Discrete-Time Sliding Mode Control Applied to the Pitch Motion of a Micro Air Vehicle with Flapping Wings 扑翼微型飞行器俯仰运动的自适应离散滑模控制

IF 4.9 3区计算机科学

Journal of Bionic Engineering Pub Date : 2025-02-07 DOI: 10.1007/s42235-025-00658-z

Joshua Hill, Farbod Fahimi, Chang-kwon Kang, Hikaru Aono

{"title":"Adaptive Discrete-Time Sliding Mode Control Applied to the Pitch Motion of a Micro Air Vehicle with Flapping Wings","authors":"Joshua Hill, Farbod Fahimi, Chang-kwon Kang, Hikaru Aono","doi":"10.1007/s42235-025-00658-z","DOIUrl":"10.1007/s42235-025-00658-z","url":null,"abstract":"<div><p>A robust Adaptive Discrete-time Sliding Mode Controller (ADSMC) is formulated, and is applied to control the pitch motion of a simulated Flapping-Wing Micro Air Vehicle (FWMAV). There is great potential for FWMAVs to be used as aerial tools to assist with gathering data and surveying environments. Thanks to modern manufacturing and technology, along with an increased comprehension behind the aerodynamics of wing flaps, these vehicles are now a reality, though not without limitations. Given their diminutive size, FWMAVs are susceptible to real-world disturbances, such as wind gusts, and are sensitive to particular variations in their build quality. While external forces such as wind gusts can be reasonably bounded, the unknown variations in the state may be difficult to characterize or bound without affecting performance. To address these problems, an ADSMC is developed. First, the FWMAV model is converted from continuous-time to discrete-time. Second, an ADSMC for the newly discretized FWMAV model is developed. Using this controller, the trajectory tracking performance of the FWMAV is assessed against a traditional discrete sliding mode controller, and is found to have a decreased chattering frequency and decreased control effort for the same task. Therefore, the ADSMC is assessed as the superior controller, despite being completely unaware of the model parameters or wind gust.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"22 2","pages":"585 - 595"},"PeriodicalIF":4.9,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143655233","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Design and Performance Test of an H-shaped Bionic Piezoelectric Robot Based on the Standing Wave Principle 基于驻波原理的h型仿生压电机器人设计与性能试验

IF 4.9 3区计算机科学

Journal of Bionic Engineering Pub Date : 2025-02-07 DOI: 10.1007/s42235-025-00663-2

Ying Li, Chaofeng Li, Zhiwei Wu, Binbin Zhu, Jinghu Tang

{"title":"Design and Performance Test of an H-shaped Bionic Piezoelectric Robot Based on the Standing Wave Principle","authors":"Ying Li, Chaofeng Li, Zhiwei Wu, Binbin Zhu, Jinghu Tang","doi":"10.1007/s42235-025-00663-2","DOIUrl":"10.1007/s42235-025-00663-2","url":null,"abstract":"<div><p>In this paper, inspired by the running motion gait of a cheetah, an H-shaped bionic piezoelectric robot (H-BPR) based on the standing wave principle is proposed and designed. The piezoelectric robot realizes linear motion, turning motion, and turning motion with different radii by the voltage differential driving method. A prototype with a weight of 38 g and dimensions of 150 × 80 × 31 mm<sup>3</sup> was fabricated. Firstly, the dynamics and kinematics of the piezoelectric robot were analyzed to obtain the trajectory of a point at the end of the piezoelectric robot leg. The motion principle of the piezoelectric robot was analyzed, and then the piezoelectric robot’s modal analysis and harmonic response analysis were carried out using finite element analysis software. Finally, an experimental setup was built to verify the effectiveness and high efficiency of the robot’s motion, and the effects of frequency, voltage, load, and height of the driving leg on the robot’s motion performance were discussed. The performance test results show that the piezoelectric robot has a maximum velocity of 66.79 mm/s at an excitation voltage of 320 V and a load capacity of 55 g. In addition, the H-BPR with unequal drive legs has better climbing performance, and the obtained conclusions are informative for selecting leg heights for piezoelectric robots.</p><h3>Graphical Abstract</h3><div><figure><div><div><picture><img></picture></div></div></figure></div></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"22 2","pages":"608 - 625"},"PeriodicalIF":4.9,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143655145","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Automatic Control of Magnetic Helical Microrobots Docking with Target Objects in Liquid Environments 液体环境下磁螺旋微型机器人与目标物对接的自动控制

IF 4.9 3区计算机科学

Journal of Bionic Engineering Pub Date : 2025-02-07 DOI: 10.1007/s42235-025-00649-0

Fu Zhao, Haoran Rong, Lefeng Wang

{"title":"Automatic Control of Magnetic Helical Microrobots Docking with Target Objects in Liquid Environments","authors":"Fu Zhao, Haoran Rong, Lefeng Wang","doi":"10.1007/s42235-025-00649-0","DOIUrl":"10.1007/s42235-025-00649-0","url":null,"abstract":"<div><p>Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with micro-shafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"22 2","pages":"574 - 584"},"PeriodicalIF":4.9,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143655234","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Laser-induced and Conformal liquid-silicone Casting of oxalis-inspired graphene-based Piezoresistive Pressure Sensors 激光诱导和保形液态硅铸造草藻石墨烯基压阻压力传感器

IF 4.9 3区计算机科学

Journal of Bionic Engineering Pub Date : 2025-02-07 DOI: 10.1007/s42235-024-00644-x

Wentao Wang, Zeping Deng, Ziqiang Chen, Linfeng Yuan, Junyan Xiang, Longzhou Dai, Kun Tang

{"title":"Laser-induced and Conformal liquid-silicone Casting of oxalis-inspired graphene-based Piezoresistive Pressure Sensors","authors":"Wentao Wang, Zeping Deng, Ziqiang Chen, Linfeng Yuan, Junyan Xiang, Longzhou Dai, Kun Tang","doi":"10.1007/s42235-024-00644-x","DOIUrl":"10.1007/s42235-024-00644-x","url":null,"abstract":"<div><p>Laser-Induced Graphene (LIG) is regarded as a promising sensor carrier due to its inherent three-dimensional porous structure. However, as two mutually exclusive properties of the pressure sensor, sensitivity and working range are difficult to be further improved by the single porous structure. Inspired by the unique geometry of <i>Oxalis corniculata L.</i> leaves, we here propose a novel method consist of laser pre-etching and inducing steps to fabricate LIG-based electrodes with a two-stage architecture featuring microjigsaw and microporous structures. The following injection of liquid-silicone significantly improves the friction resistance and bending reliability of LIG materials. The interface contact between external microjigsaw structures induces substantial resistance changes, and the internal microporous structure exhibits reversibility during dynamic deformation. Consequently, the jigsaw-like pressure sensor achieves a balanced performance with sensitivities of 3.64, 1.20 and 0.03 kPa<sup>− 1</sup> in pressure range of 0 − 20, 20 − 40 and 40 − 150 kPa, respectively. The bionic LIG-based pressure sensor serves as the core component and further integrated with an all-in-one wireless transmission system capable of monitoring various health parameters such as subtle pulse rates, heartbeat rhythms, sounds, etc., indicating broad prospects in future wearable electronics.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"22 2","pages":"713 - 726"},"PeriodicalIF":4.9,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143655229","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Mimicking Nature’s Insects: A Review of Bio-inspired Flapping-Wing Micro Robots (FWMRs) 仿生昆虫：仿生扑翼微型机器人（FWMRs）的研究进展

IF 4.9 3区计算机科学

Journal of Bionic Engineering Pub Date : 2025-02-07 DOI: 10.1007/s42235-025-00648-1

Chao Liu, Tianyu Shen, Huan Shen, Bo Lu, Lining Sun, Guodong Chen, Wenzheng Chi

引用次数: 0