Cyborg and bionic systems (Washington, D.C.)最新文献_第8页

A Heuristically Accelerated Reinforcement Learning-Based Neurosurgical Path Planner. 基于启发式加速强化学习的神经外科路径规划。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0026

Guanglin Ji, Qian Gao, Tianwei Zhang, Lin Cao, Zhenglong Sun

{"title":"A Heuristically Accelerated Reinforcement Learning-Based Neurosurgical Path Planner.","authors":"Guanglin Ji, Qian Gao, Tianwei Zhang, Lin Cao, Zhenglong Sun","doi":"10.34133/cbsystems.0026","DOIUrl":"https://doi.org/10.34133/cbsystems.0026","url":null,"abstract":"The steerable needle becomes appealing in the neurosurgery intervention procedure because of its flexibility to bypass critical regions inside the brain; with proper path planning, it can also minimize the potential damage by setting constraints and optimizing the insertion path. Recently, reinforcement learning (RL)-based path planning algorithm has shown promising results in neurosurgery, but because of the trial and error mechanism, it can be computationally expensive and insecure with low training efficiency. In this paper, we propose a heuristically accelerated deep Q network (DQN) algorithm to safely preoperatively plan a needle insertion path in a neurosurgical environment. Furthermore, a fuzzy inference system is integrated into the framework as a balance of the heuristic policy and the RL algorithm. Simulations are conducted to test the proposed method in comparison to the traditional greedy heuristic searching algorithm and DQN algorithms. Tests showed promising results of our algorithm in saving over 50 training episodes, calculating path lengths of 0.35 after normalization, which is 0.61 and 0.39 for DQN and traditional greedy heuristic searching algorithm, respectively. Moreover, the maximum curvature during planning is reduced to 0.046 from 0.139 mm-1 using the proposed algorithm compared to DQN.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0026"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10204738/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9880534","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Body Extension by Using Two Mobile Manipulators. 使用两个移动机械手进行身体伸展。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0014

Yusuke Hirao, Weiwei Wan, Dimitrios Kanoulas, Kensuke Harada

引用次数: 2

An Overview of In Vitro Biological Neural Networks for Robot Intelligence. 用于机器人智能的体外生物神经网络综述。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0001

Zhe Chen, Qian Liang, Zihou Wei, Xie Chen, Qing Shi, Zhiqiang Yu, Tao Sun

{"title":"An Overview of In Vitro Biological Neural Networks for Robot Intelligence.","authors":"Zhe Chen, Qian Liang, Zihou Wei, Xie Chen, Qing Shi, Zhiqiang Yu, Tao Sun","doi":"10.34133/cbsystems.0001","DOIUrl":"https://doi.org/10.34133/cbsystems.0001","url":null,"abstract":"In vitro biological neural networks (BNNs) interconnected with robots, so-called BNN-based neurorobotic systems, can interact with the external world, so that they can present some preliminary intelligent behaviors, including learning, memory, robot control, etc. This work aims to provide a comprehensive overview of the intelligent behaviors presented by the BNN-based neurorobotic systems, with a particular focus on those related to robot intelligence. In this work, we first introduce the necessary biological background to understand the 2 characteristics of the BNNs: nonlinear computing capacity and network plasticity. Then, we describe the typical architecture of the BNN-based neurorobotic systems and outline the mainstream techniques to realize such an architecture from 2 aspects: from robots to BNNs and from BNNs to robots. Next, we separate the intelligent behaviors into 2 parts according to whether they rely solely on the computing capacity (computing capacity-dependent) or depend also on the network plasticity (network plasticity-dependent), which are then expounded respectively, with a focus on those related to the realization of robot intelligence. Finally, the development trends and challenges of the BNN-based neurorobotic systems are discussed.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0001"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10076061/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9289763","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

A Versatile Continuum Gripping Robot with a Concealable Gripper. 带有隐蔽式抓手的多功能连续抓取机器人

IF 10.5

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 Epub Date: 2023-02-24 DOI: 10.34133/cbsystems.0003

Shuailong Zhang, Fenggang Li, Rongxin Fu, Hang Li, Suli Zou, Nan Ma, Shengyuan Qu, Jian Li

{"title":"A Versatile Continuum Gripping Robot with a Concealable Gripper.","authors":"Shuailong Zhang, Fenggang Li, Rongxin Fu, Hang Li, Suli Zou, Nan Ma, Shengyuan Qu, Jian Li","doi":"10.34133/cbsystems.0003","DOIUrl":"10.34133/cbsystems.0003","url":null,"abstract":"Continuum robots with their inherent compliance provide the potential for crossing narrow unstructured workspace and safely grasping various objects. However, the display gripper increases the size of the robots, and therefore, it tends to get stuck in constrained environments. This paper proposes a versatile continuum grasping robot (CGR) with a concealable gripper. The CGR can capture large objects with respect to the robot's scale using the continuum manipulator and can grasp various objects using the end concealable gripper especially in narrow and unstructured workspaces. To perform the cooperative operation of the concealable gripper and the continuum manipulator, a global kinematic model based on screw theory and a motion planning approach referred to as \"multi-node synergy method\" for the CGR are presented. The simulation and experimental results show that objects of different shapes and sizes can be captured by the same CGR even in complex and narrow environments. Finally, in the future, the CGR is expected to serve for satellite capture in harsh space environments such as high vacuum, strong radiation, and extreme temperatures.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0003"},"PeriodicalIF":10.5,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10076060/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9289766","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Movement Optimization for a Cyborg Cockroach in a Bounded Space Incorporating Machine Learning. 结合机器学习的有界空间半机械蟑螂运动优化。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0012

Mochammad Ariyanto, Chowdhury Mohammad Masum Refat, Kazuyoshi Hirao, Keisuke Morishima

{"title":"Movement Optimization for a Cyborg Cockroach in a Bounded Space Incorporating Machine Learning.","authors":"Mochammad Ariyanto, Chowdhury Mohammad Masum Refat, Kazuyoshi Hirao, Keisuke Morishima","doi":"10.34133/cbsystems.0012","DOIUrl":"https://doi.org/10.34133/cbsystems.0012","url":null,"abstract":"Cockroaches can traverse unknown obstacle-terrain, self-right on the ground and climb above the obstacle. However, they have limited motion, such as less activity in light/bright areas and lower temperatures. Therefore, the movement of the cyborg cockroaches needs to be optimized for the utilization of the cockroach as a cyborg insect. This study aims to increase the search rate and distance traveled by cockroaches and reduce the stop time by utilizing automatic stimulation from machine learning. Multiple machine learning classifiers were applied to classify the offline binary classification of the cockroach movement based on the inertial measuring unit input signals. Ten time-domain features were chosen and applied as the classifier inputs. The highest performance of the classifiers was implemented for the online motion recognition and automatic stimulation provided to the cerci to trigger the free walking motion of the cockroach. A user interface was developed to run multiple computational processes simultaneously in real time such as computer vision, data acquisition, feature extraction, automatic stimulation, and machine learning using a multithreading algorithm. On the basis of the experiment results, we successfully demonstrated that the movement performance of cockroaches was importantly improved by applying machine learning classification and automatic stimulation. This system increased the search rate and traveled distance by 68% and 70%, respectively, while the stop time was reduced by 78%.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0012"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10019993/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9643132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Field-Controlled Microrobots Fabricated by Photopolymerization. 光聚合制备的场控微型机器人。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0009

Xiyue Liang, Zhuo Chen, Yan Deng, Dan Liu, Xiaoming Liu, Qiang Huang, Tatsuo Arai

{"title":"Field-Controlled Microrobots Fabricated by Photopolymerization.","authors":"Xiyue Liang, Zhuo Chen, Yan Deng, Dan Liu, Xiaoming Liu, Qiang Huang, Tatsuo Arai","doi":"10.34133/cbsystems.0009","DOIUrl":"https://doi.org/10.34133/cbsystems.0009","url":null,"abstract":"Field-controlled microrobots have attracted extensive research in the biological and medical fields due to the prominent characteristics including high flexibility, small size, strong controllability, remote manipulation, and minimal damage to living organisms. However, the fabrication of these field-controlled microrobots with complex and high-precision 2- or 3-dimensional structures remains challenging. The photopolymerization technology is often chosen to fabricate field-controlled microrobots due to its fast-printing velocity, high accuracy, and high surface quality. This review categorizes the photopolymerization technologies utilized in the fabrication of field-controlled microrobots into stereolithography, digital light processing, and 2-photon polymerization. Furthermore, the photopolymerized microrobots actuated by different field forces and their functions are introduced. Finally, we conclude the future development and potential applications of photopolymerization for the fabrication of field-controlled microrobots.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0009"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10243896/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9954549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Learning Rat-Like Behavioral Interaction Using a Small-Scale Robotic Rat. 用小型机器老鼠学习老鼠的行为互动。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0032

Hongzhao Xie, Zihang Gao, Guanglu Jia, Shingo Shimoda, Qing Shi

{"title":"Learning Rat-Like Behavioral Interaction Using a Small-Scale Robotic Rat.","authors":"Hongzhao Xie, Zihang Gao, Guanglu Jia, Shingo Shimoda, Qing Shi","doi":"10.34133/cbsystems.0032","DOIUrl":"https://doi.org/10.34133/cbsystems.0032","url":null,"abstract":"In this paper, we propose a novel method for emulating rat-like behavioral interactions in robots using reinforcement learning. Specifically, we develop a state decision method to optimize the interaction process among 6 known behavior types that have been identified in previous research on rat interactions. The novelty of our method lies in using the temporal difference (TD) algorithm to optimize the state decision process, which enables the robots to make informed decisions about their behavior choices. To assess the similarity between robot and rat behavior, we use Pearson correlation. We then use TD-λ to update the state value function and make state decisions based on probability. The robots execute these decisions using our dynamics-based controller. Our results demonstrate that our method can generate rat-like behaviors on both short- and long-term timescales, with interaction information entropy comparable to that between real rats. Overall, our approach shows promise for controlling robots in robot-rat interactions and highlights the potential of using reinforcement learning to develop more sophisticated robotic systems.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0032"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10278959/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10086098","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Heavier Load Alters Upper Limb Muscle Synergy with Correlated fNIRS Responses in BA4 and BA6. 较重负荷改变上肢肌肉协同作用与BA4和BA6相关的fNIRS反应。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0033

Zhi Chen, Jin Yan, Xiaohui Song, Yongjun Qiao, Yong Joo Loh, Qing Xie, Chuanxin M Niu

{"title":"Heavier Load Alters Upper Limb Muscle Synergy with Correlated fNIRS Responses in BA4 and BA6.","authors":"Zhi Chen, Jin Yan, Xiaohui Song, Yongjun Qiao, Yong Joo Loh, Qing Xie, Chuanxin M Niu","doi":"10.34133/cbsystems.0033","DOIUrl":"https://doi.org/10.34133/cbsystems.0033","url":null,"abstract":"In neurorehabilitation, motor performances may improve if patients could accomplish the training by overcoming mechanical loads. When the load inertia is increased, it has been found to trigger linear responses in motor-related cortices. The cortical responses, however, are unclear whether they also correlate to changes in muscular patterns. Therefore, it remains difficult to justify the magnitude of load during rehabilitation because of the gap between cortical and muscular activation. Here, we test the hypothesis that increases in load inertia may alter the muscle synergies, and the change in synergy may correlate with cortical activation. Twelve healthy subjects participated in the study. Each subject lifted dumbbells (either 0, 3, or 15 pounds) from the resting position to the armpit repetitively at 1 Hz. Surface electromyographic signals were collected from 8 muscles around the shoulder and the elbow, and hemodynamic signals were collected using functional near-infrared spectroscopy from motor-related regions Brodmann Area 4 (BA4) and BA6. Results showed that, given higher inertia, the synergy vectors differed farther from the baseline. Moreover, synergy similarity on the vector decreased linearly with cortical responses in BA4 and BA6, which associated with increases in inertia. Despite studies in literature that movements with similar kinematics tend not to differ in synergy vectors, we show a different possibility that the synergy vectors may deviate from a baseline. At least 2 consequences of adding inertia have been identified: to decrease synergy similarity and to increase motor cortical activity. The dual effects potentially provide a new benchmark for therapeutic goal setting.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0033"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10233656/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9582625","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Microfluidic-Assisted Caenorhabditis elegans Sorting: Current Status and Future Prospects. 微流体辅助秀丽隐杆线虫分选的现状与展望。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0011

Hang Yuan, Wenwen Yuan, Sixuan Duan, Keran Jiao, Quan Zhang, Eng Gee Lim, Min Chen, Chun Zhao, Peng Pan, Xinyu Liu, Pengfei Song

{"title":"Microfluidic-Assisted Caenorhabditis elegans Sorting: Current Status and Future Prospects.","authors":"Hang Yuan, Wenwen Yuan, Sixuan Duan, Keran Jiao, Quan Zhang, Eng Gee Lim, Min Chen, Chun Zhao, Peng Pan, Xinyu Liu, Pengfei Song","doi":"10.34133/cbsystems.0011","DOIUrl":"https://doi.org/10.34133/cbsystems.0011","url":null,"abstract":"Caenorhabditis elegans (C. elegans) has been a popular model organism for several decades since its first discovery of the huge research potential for modeling human diseases and genetics. Sorting is an important means of providing stage- or age-synchronized worm populations for many worm-based bioassays. However, conventional manual techniques for C. elegans sorting are tedious and inefficient, and commercial complex object parametric analyzer and sorter is too expensive and bulky for most laboratories. Recently, the development of lab-on-a-chip (microfluidics) technology has greatly facilitated C. elegans studies where large numbers of synchronized worm populations are required and advances of new designs, mechanisms, and automation algorithms. Most previous reviews have focused on the development of microfluidic devices but lacked the summaries and discussion of the biological research demands of C. elegans, and are hard to read for worm researchers. We aim to comprehensively review the up-to-date microfluidic-assisted C. elegans sorting developments from several angles to suit different background researchers, i.e., biologists and engineers. First, we highlighted the microfluidic C. elegans sorting devices' advantages and limitations compared to the conventional commercialized worm sorting tools. Second, to benefit the engineers, we reviewed the current devices from the perspectives of active or passive sorting, sorting strategies, target populations, and sorting criteria. Third, to benefit the biologists, we reviewed the contributions of sorting to biological research. We expect, by providing this comprehensive review, that each researcher from this multidisciplinary community can effectively find the needed information and, in turn, facilitate future research.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0011"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10243201/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9602643","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Titanium Culture Vessel Presenting Temperature Gradation for the Thermotolerance Estimation of Cells. 钛培养容器呈现温度梯度，用于细胞耐热性评估。

Cyborg and bionic systems (Washington, D.C.) Pub Date : 2023-01-01 DOI: 10.34133/cbsystems.0049

Chikahiro Imashiro, Yangyan Jin, Motoaki Hayama, Takahiro G Yamada, Akira Funahashi, Katsuhisa Sakaguchi, Shinjiro Umezu, Jun Komotori

{"title":"Titanium Culture Vessel Presenting Temperature Gradation for the Thermotolerance Estimation of Cells.","authors":"Chikahiro Imashiro, Yangyan Jin, Motoaki Hayama, Takahiro G Yamada, Akira Funahashi, Katsuhisa Sakaguchi, Shinjiro Umezu, Jun Komotori","doi":"10.34133/cbsystems.0049","DOIUrl":"https://doi.org/10.34133/cbsystems.0049","url":null,"abstract":"Hyperthermia can be induced to exploit the thermal intolerance of cancer cells, which is worse than that of normal cells, as a potential noninvasive cancer treatment. To develop an effective hyperthermia treatment, thermal cytotoxicity of cells should be comprehensively investigated. However, to conduct such investigations, the culture temperature must be accurately regulated. We previously reported a culture system in which the culture temperature could be accurately regulated by employing metallic culture vessels. However, appropriate temperature conditions for hyperthermia depend on the cell species. Consequently, several experiments need to be conducted, which is a bottleneck of inducing hyperthermia. Hence, we developed a cell culture system with temperature gradation on a metallic culture surface. Michigan Cancer Foundation-7 cells and normal human dermal fibroblasts were used as cancer and normal cell models, respectively. Normal cells showed stronger thermal tolerance; this was because the novel system immediately exhibited a temperature gradation. Thus, the developed culture system can be used to investigate the optimum thermal conditions for effective hyperthermia treatment. Furthermore, as the reactions of cultured cells can be effectively assessed with the present results, further research involving the thermal stimulation of cells is possible.","PeriodicalId":72764,"journal":{"name":"Cyborg and bionic systems (Washington, D.C.)","volume":"4 ","pages":"0049"},"PeriodicalIF":0.0,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10405790/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10019434","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0