Advanced Robotics最新文献

Autonomous Locomotion of Tensegrity Structure on Low‐Temperature Surfaces 低温表面上张拉整体结构的自主运动

4区计算机科学

Advanced Robotics Pub Date : 2025-08-31 DOI: 10.1002/adrr.202500130

Changyue Liu, Kai Li, Tianyu Li, Zixuan Wang, Zixuan Wang, Jiping Yang, Zhijian Wang, Zhijian Wang

{"title":"Autonomous Locomotion of Tensegrity Structure on Low‐Temperature Surfaces","authors":"Changyue Liu, Kai Li, Tianyu Li, Zixuan Wang, Zixuan Wang, Jiping Yang, Zhijian Wang, Zhijian Wang","doi":"10.1002/adrr.202500130","DOIUrl":"https://doi.org/10.1002/adrr.202500130","url":null,"abstract":"Tensegrity structure is a lightweight framework composed of tensile cables and compressive rods, demonstrating significant potential for planetary exploration robots due to their structural flexibility, large deployment, and excellent load‐bearing capacity. Specially, the tensegrity structure fabricated by integrating thermally responsive liquid crystal elastomers (LCEs) and passive cables, is capable of self‐propelling continuously on a hot surface. However, the hybrid tensegrity structure requires surface temperature exceeding 100°C to actuate, due to the high phase transition temperature of its LCE cables, limiting its potential practical applications. Here, a low‐temperature responsive tensegrity structure (LRTS) is presented using LCE with low phase transition temperature and nonresponsive material as soft cables. Tailored phase transition temperatures of LCEs are achieved through precisely adjusting the ratio of two distinct liquid crystal mesogens, enabling operation on mildly heated surfaces. The mechanical and actuation properties of two types of cable materials are precisely tuned to meet the requirement of self‐propelled tensegrity structure. In addition, the rolling conditions of the LRTS are systematically investigated. The LRTS can undertake self‐propelling motion on the surface with mild temperatures. The ability to tune rolling temperature by tailoring the responsive temperature of active cable enriches the design strategies of the tensegrity structures.","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/adrr.202500130","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147883832","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

A Superlubricated Magnetically Steerable Microcatheter with Integrated Optical and Fluidic Channels 一种集成光学和流体通道的超润滑磁可控微导管

4区计算机科学

Advanced Robotics Pub Date : 2025-08-31 DOI: 10.1002/adrr.202500131

Yuntian Du, Ruokun He, Luqi Li, Hesheng Wang, Zhuo‐Chen Ma, Bing Han

{"title":"A Superlubricated Magnetically Steerable Microcatheter with Integrated Optical and Fluidic Channels","authors":"Yuntian Du, Ruokun He, Luqi Li, Hesheng Wang, Zhuo‐Chen Ma, Bing Han","doi":"10.1002/adrr.202500131","DOIUrl":"https://doi.org/10.1002/adrr.202500131","url":null,"abstract":"Magnetically steerable microcatheters have emerged as promising tools for minimally invasive interventions, offering wireless control and navigation through complex anatomical pathways. However, most existing systems are limited to locomotion‐only tasks and lack integrated functionalities such as fluid delivery and optical guidance—capabilities essential for clinical deployment. Herein, we present a superlubricated, magnetically steerable microcatheter that integrates magnetic actuation, fluid delivery, and optical transmission within a unified platform. The microcatheter is fabricated by casting a magnetic polydimethylsiloxane (PDMS) composite into a polytetrafluoroethylene (PTFE) mold, while co‐embedding an optical fiber and a microfluidic channel. After forming a continuous structure, a thin layer of pure PDMS is applied to the surface, enabling uniform hydrophilic coating via photopolymerized hydrogel. This continuous lubricating layer significantly reduces friction and enhances steerability in tortuous geometries. Directional magnetic anisotropy is induced during thermal curing to allow precise actuation under clinically relevant magnetic fields. Functional evaluations in flexible ring‐navigation and vascular phantom experiments demonstrate reliable magnetic control, reduced interfacial friction, and stable multi‐channel performance. This work provides a modular and scalable strategy for constructing multifunctional soft microcatheters, offering a versatile platform for future magnetically actuated interventional devices.","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/adrr.202500131","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147917147","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Near‐Infrared‐Driven Metal–Organic Frameworks‐Based Nanorobots for Controlled Photothermal‐Chemical Therapy Synergistic Induction of Cancer Cell Death 近红外驱动的金属有机框架纳米机器人用于可控光热化学疗法协同诱导癌细胞死亡

4区计算机科学

Advanced Robotics Pub Date : 2025-08-06 DOI: 10.1002/adrr.202500104

Tong Lin, Jie Yang, Yongcheng Li, Yuepeng Cai, Xiaosong Zhou, Ting Chen, Renfeng Dong

{"title":"Near‐Infrared‐Driven Metal–Organic Frameworks‐Based Nanorobots for Controlled Photothermal‐Chemical Therapy Synergistic Induction of Cancer Cell Death","authors":"Tong Lin, Jie Yang, Yongcheng Li, Yuepeng Cai, Xiaosong Zhou, Ting Chen, Renfeng Dong","doi":"10.1002/adrr.202500104","DOIUrl":"https://doi.org/10.1002/adrr.202500104","url":null,"abstract":"Chemotherapy and photothermal therapy (PTT) hold great potential in cancer treatment, but face challenges including low therapeutic agent penetration and insufficient photothermal effects. Therefore, it is necessary to design a nanomedicine delivery system capable of both PTT and controlled drug release. Here, a bowl‐shaped PDA@UiO‐66 nanorobot was designed for efficient loading of doxorubicin (DOX), enabling synergistic cancer cell death through combined chemotherapy and PTT. The superior photothermal‐effect bowl‐shaped Polydopamine (PDA) was synthesized using an emulsion‐induced interface anisotropic assembly method, and UiO‐66 was grown on its surface through functional groups to enhance the drug‐loading capacity. The asymmetric structure of nanorobots enables efficient self‐thermophoretic motion under Near‐infrared (NIR) irradiation. Compared to static nanorobots, NIR irradiation not only drives nanorobot to exhibit self‐thermophoretic motion and elevates temperature but also triggers DOX release via hyperthermia, enhancing cancer cellular uptake of DOX and thereby significantly improving the combined chemo‐photothermal therapeutic efficacy. This novel therapeutic strategy, which combines self‐propelled motion with photothermally responsive drug release, overcomes the technical limitations of decoupled motility and drug release in traditional nano‐delivery systems. It achieves precise photothermal‐controlled drug release and significantly enhances tumor cell‐killing efficiency. This approach provides an innovative strategy for developing multifunctional integrated nanodrug delivery platforms.","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/adrr.202500104","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147333122","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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: 1

Dual‐Functional Ingestible Passive Capsules for High‐Throughput Intestinal Sampling with Sealed Containment and Targeted Drug Delivery 用于高通量肠道采样的双功能可摄取被动胶囊，具有密封容器和靶向药物递送

4区计算机科学

Advanced Robotics Pub Date : 2025-07-24 DOI: 10.1002/adrr.202500100

Libing Huang, Houyu Ling, Xizong Chen, Yufei Duan, Yu Liu, Shuntian Cai, Yandan Ren, Wenlong Li, Lei Ren, Miao Wang

{"title":"Dual‐Functional Ingestible Passive Capsules for High‐Throughput Intestinal Sampling with Sealed Containment and Targeted Drug Delivery","authors":"Libing Huang, Houyu Ling, Xizong Chen, Yufei Duan, Yu Liu, Shuntian Cai, Yandan Ren, Wenlong Li, Lei Ren, Miao Wang","doi":"10.1002/adrr.202500100","DOIUrl":"https://doi.org/10.1002/adrr.202500100","url":null,"abstract":"Gut biological information, including microbiota and metabolites, shows increasing associations with diseases such as inflammatory bowel disease, obesity, and diabetes. Precise sampling and modulation of biological information have become critical in medical research, health assessments, and interventions. Although various intestinal sampling and drug delivery capsules have been developed independently, achieving multifunctional passive capsules within a swallowing size remains a challenge. Here, we have designed a dual‐functional passive capsule that integrates intestinal sampling and drug delivery capabilities through a dual‐control mechanism based on pH responsiveness and mechanical actuation and meets the standard requirements for oral ingestion (Ø10.5 mm × L26 mm). It is engineered to target specific regions of the gut, activating the sampling function in response to pH values (≥5.5). The system enables high‐throughput collection of intestinal juice (>300 μL) while effectively resisting gas interference. An integrated, spring‐driven actuation mechanism provides a sealing force exceeding 0.78 N, ensuring secure encapsulation of collected samples even under the mechanical stresses posed by high‐viscosity intestinal contents (1 × 10 6 mPa s). The capsule's dual functionality was successfully validated in‐vivo using Bama miniature pigs, demonstrating efficient, contamination‐sealed sample collection suitable for downstream sequencing analysis and highlighting its strong potential for biomedical applications.","PeriodicalId":7261,"journal":{"name":"Advanced Robotics","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/adrr.202500100","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147332184","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Deep reinforcement learning for static noisy state feedback control with reward estimation 基于奖励估计的静态噪声状态反馈控制的深度强化学习

4区计算机科学

Advanced Robotics Pub Date : 2025-02-24 DOI: 10.1080/01691864.2025.2468215

Ran Wang, Kenji Kashima