Biomimetics最新文献

{"title":"A Planning Framework Based on Semantic Segmentation and Flipper Motions for Articulated Tracked Robot in Obstacle-Crossing Terrain.","authors":"Pu Zhang, Junhang Liu, Yongling Fu, Jian Sun","doi":"10.3390/biomimetics10090627","DOIUrl":"10.3390/biomimetics10090627","url":null,"abstract":"<p><p>Articulated tracked robots (ATRs) equipped with dual active flippers are widely used due to their ability to climb over complex obstacles like animals with legs. This paper presents a novel planning framework designed to empower ATRs with the capability of autonomously generating global paths that integrate obstacle-crossing maneuvers in complex terrains. This advancement effectively mitigates the issue of excessive dependence on remote human control, thereby enhancing the operational efficiency and adaptability of ATRs in challenging environments. The framework consists of three core components. First, a lightweight DeepLab V3+ architecture augmented with an edge-aware module is used for real-time semantic segmentation of elevation maps. Second, a simplified model of the robot-terrain contact is constructed to rapidly calculate the robot's pose at map sampling points through contact point traversal. Finally, based on rapidly-exploring random trees, the cost of flipper motion smoothness is incorporated into the search process, achieving collaborative planning of passable paths and flipper maneuvers in obstacle-crossing scenarios. The framework was tested on our Crawler robot, which can quickly and accurately identify flat areas, obstacle-crossing areas, and impassable areas, avoiding redundant planning in non-obstacle areas. Compared to manually operated remote control, the planned path demonstrated shorter travel time, better stability, and lower flipper energy expenditure. This framework offers substantial practical value for autonomous navigation in demanding environments.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 9","pages":""},"PeriodicalIF":3.9,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12467243/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145147725","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Hybrid Nonlinear Greater Cane Rat Algorithm with Sine-Cosine Algorithm for Global Optimization and Constrained Engineering Applications.","authors":"Jinzhong Zhang, Anqi Jin, Tan Zhang","doi":"10.3390/biomimetics10090629","DOIUrl":"10.3390/biomimetics10090629","url":null,"abstract":"<p><p>The greater cane rat algorithm (GCRA) is a swarm intelligence algorithm inspired by the discerning and intelligent foraging behavior of the greater cane rats, which facilitates mating during the rainy season and non-mating during the dry season. However, the basic GCRA exhibits serious drawbacks of high parameter sensitivity, insufficient solution accuracy, high computational complexity, susceptibility to local optima and overfitting, poor dynamic adaptability, and a severe curse of dimensionality. In this paper, a hybrid nonlinear greater cane rat algorithm with sine-cosine algorithm named (SCGCRA) is proposed for resolving the benchmark functions and constrained engineering designs; the objective is to balance exploration and exploitation to identify the globally optimal precise solution. The SCGCRA utilizes the periodic oscillatory fluctuation characteristics of the sine-cosine algorithm and the dynamic regulation and decision-making of nonlinear control strategy to improve search efficiency and flexibility, enhance convergence speed and solution accuracy, increase population diversity and quality, avoid premature convergence and search stagnation, remedy the disequilibrium between exploration and exploitation, achieve synergistic complementarity and reduce sensitivity, and realize repeated expansion and contraction. Twenty-three benchmark functions and six real-world engineering designs are utilized to verify the reliability and practicality of the SCGCRA. The experimental results demonstrate that the SCGCRA exhibits certain superiority and adaptability in achieving a faster convergence speed, higher solution accuracy, and stronger stability and robustness.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 9","pages":""},"PeriodicalIF":3.9,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12467287/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145147679","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An Innovative Retrieval-Augmented Generation Framework for Stage-Specific Knowledge Translation in Biomimicry Design.","authors":"Hsueh-Kuan Chen, Hung-Hsiang Wang","doi":"10.3390/biomimetics10090626","DOIUrl":"10.3390/biomimetics10090626","url":null,"abstract":"<p><p>Converting biological strategies into practical design principles during the Discover-Abstract phase of the Biomimicry Design Spiral (BSD) presents a considerable obstacle, particularly for designers lacking a biological background. This research introduces a Retrieval-Augmented Generation (RAG) framework that combines a specialized AskNature database of 2106 documents with a locally executed Llama 3.1 large language model (LLM) to fill this void. The innovation of this study lies in integrating the BDS with a stage-specific RAG-LLM framework. Unlike BioTRIZ or SAPPhIRE, which require specialized expertise, our approach provides designers with semantically precise and biologically grounded strategies that can be directly translated into practical design principles. A quasi-experimental study with 30 industrial design students assessed three setups-LLM-only, RAG-Small, and RAG-Large-throughout six biomimicry design stages. Performance was assessed via expert evaluations of text and design concept quality, along with a review of retrieval diversity. Findings indicate that RAG-Large consistently yielded superior text quality in stages with high cognitive demands. It also retrieved a more varied array of high-specificity biological ideas and facilitated more coherent incorporation of functional, aesthetic, and semantic aspects in design results. This framework diminishes cognitive burden, boosts the relevance and originality of inspirations, and provides a reproducible, stage-specific AI assistance model for closing the knowledge translation gap in biomimicry design, though its current validation is limited to a small sample and a single task domain.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 9","pages":""},"PeriodicalIF":3.9,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12467817/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145147506","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Bio-Inspired Teleoperation Control: Unified Rapid Tracking, Compliant and Safe Interaction.","authors":"Chuang Cheng, Haoran Xiao, Wei Dai, Yantong Wei, Yanjie Chen, Hui Zhang, Huimin Lu","doi":"10.3390/biomimetics10090625","DOIUrl":"10.3390/biomimetics10090625","url":null,"abstract":"<p><p>In robotic teleoperation, the simultaneous realization of rapid tracking, compliance, and safe interaction presents a fundamental control challenge. This challenge stems from a critical trade-off: high-stiffness controllers achieve rapid tracking but compromise safety during physical interactions, whereas low-stiffness impedance controllers ensure compliant and safe interactions at the expense of responsiveness. To address this conflict, this study proposes a bio-inspired teleoperation control method (BITC) that integrates human withdrawal reflex mechanisms and the nonlinear stiffness characteristics of shear-thickening fluids. BITC features a dynamic force-feedback-driven collision reflex strategy, enabling rapid detection and disengagement from unintended contacts. Additionally, a nonlinear compliance control module is proposed to achieve both force fidelity during initial contact and adaptive stiffness modulation during progressively deeper contact in an emergency. By integrating full-state feedback tracking, the BITC teleoperation control framework is implemented to unify the performance of rapid tracking, compliance, and safety. Three experiments are conducted to demonstrate that the BITC method achieves accurate tracking performance, ensures compliant behavior during deep contact while maintaining force fidelity during initial contact, and enables safe reflexion for collision, respectively. The method is also validated to reduce peak contact forces by approximately 60% and minimizes contact duration to less than 120 ms, presenting comprehensive teleoperation performance.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 9","pages":""},"PeriodicalIF":3.9,"publicationDate":"2025-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12466969/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145147451","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Hypoxia and Multilineage Communication in 3D Organoids for Human Disease Modeling.","authors":"Seif Ehab, Ola A Gaser, Ahmed Abdal Dayem","doi":"10.3390/biomimetics10090624","DOIUrl":"10.3390/biomimetics10090624","url":null,"abstract":"<p><p>Organoids, self-organizing, three-dimensional (3D) multicellular structures derived from tissues or stem cells, offer physiologically relevant models for studying human development and disease. Compared to conventional two-dimensional (2D) cell cultures and animal models, organoids more accurately recapitulate the architecture and function of human organs. Among the critical microenvironmental cues influencing organoid behavior, hypoxia and multilineage communication are particularly important for guiding cell fate, tissue organization, and pathological modeling. Hypoxia, primarily regulated by hypoxia-inducible factors (HIFs), modulates cellular proliferation, differentiation, metabolism, and gene expression, making it a key component in disease modeling. Similarly, multilineage communication, facilitated by intercellular interactions and extracellular matrix (ECM) remodeling, enhances organoid complexity and immunological relevance. This review explores the dynamic interplay between hypoxia and multilineage signaling in 3D organoid-based disease models, emphasizing recent advances in engineering hypoxic niches and co-culture systems to improve preclinical research fidelity. We also discuss their translational implications for drug screening, regenerative medicine, and precision therapies, while highlighting current challenges and future opportunities. By integrating biophysical, biochemical, and computational approaches, next-generation organoid models may be further optimized for translational research and therapeutic innovation.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 9","pages":""},"PeriodicalIF":3.9,"publicationDate":"2025-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12467935/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145147704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Abnormal Gait Phase Recognition and Limb Angle Prediction in Lower-Limb Exoskeletons.","authors":"Sheng Wang, Chunjie Chen, Xiaojun Wu","doi":"10.3390/biomimetics10090623","DOIUrl":"10.3390/biomimetics10090623","url":null,"abstract":"<p><p>The phase detection of abnormal gait and the prediction of lower-limb angles are key challenges in controlling lower-limb exoskeletons. This study simulated three types of abnormal gaits: scissor gait, foot-drop gait, and staggering gait. To enhance the recognition capability for abnormal gait phases, a four-discrete-phase division for a single leg is proposed: pre-swing, swing, swing termination, and stance phases. The four phases of both legs further constitute four stages of walking. Using the Euler angles of the ankle joints as inputs, the capabilities of a Convolutional Neural Network and a Support Vector Machine in recognizing discrete gait phases are verified. Based on these discrete gait phases, a continuous phase estimation is further performed using an adaptive frequency oscillator. For predicting the lower-limb motion angle, this study innovatively proposes an input scheme that integrates three-axis ankle joint angles and continuous gait phases. Comparative experiments confirmed that this information fusion scheme improved the limb angle prediction accuracy, with the Convolutional Neural Network-Long Short-Term Memory network yielding the best prediction results.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 9","pages":""},"PeriodicalIF":3.9,"publicationDate":"2025-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12467789/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145147657","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Experimental and Spectral Analysis of the Wake Velocity Effect in a 3D Falcon Prototype with Oscillating Feathers and Its Application in HAWT with Biomimetic Vortex Generators Using CFD.","authors":"Hector G Parra, Javier A Guacaneme, Elvis E Gaona","doi":"10.3390/biomimetics10090622","DOIUrl":"10.3390/biomimetics10090622","url":null,"abstract":"<p><p>The peregrine falcon, known as the fastest bird in the world, has been studied for its ability to stabilize during high-speed dives, a capability attributed to the configuration of its dorsal feathers. These feathers have inspired the design of vortex generators devices that promote controlled turbulence to delay boundary layer separation on aircraft wings and turbine blades. This study presents an experimental wind tunnel investigation of a bio-inspired peregrine falcon prototype, equipped with movable artificial feathers, a hot-wire anemometer, and a 3D accelerometer. Wake velocity profiles measured behind the prototype revealed fluctuations associated with feather motion. Spectral analysis of the velocity signals, recorded with oscillating feathers at a wind tunnel speed of 10 m/s, showed attenuation of specific frequency components, suggesting that feather dynamics may help mitigate wake fluctuations induced by structural vibrations. Three-dimensional acceleration measurements indicated that prototype vibrations remained below 1 g, with peak differences along the X and Z axes ranging from -0.06 g to 0.06 g, demonstrating the sensitivity of the vibration sensing system. Root Mean Square (RMS) values of velocity signals increased with wind tunnel speed but decreased as the feather inclination angle rose. When the mean value was subtracted from the signal, higher RMS variability was observed, reflecting increased flow disturbance from feather movement. Fast Fourier Transform (FFT) analysis revealed that, for fixed feather angles, spectral magnitudes increased uniformly with wind speed. In contrast, dynamic feather oscillation produced distinctive frequency peaks, highlighting the feather's influence on the wake structure in the frequency domain. To complement the experimental findings, 3D CFD simulations were conducted on two HAWT-type wind turbines-one with bio-inspired vortex generators and one without. The simulations showed a significant reduction in turbulent kinetic energy contours in the wake of the modified turbine, particularly in the Y-Z plane, compared to the baseline configuration.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 9","pages":""},"PeriodicalIF":3.9,"publicationDate":"2025-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12467286/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145147676","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Improved Multi-Strategy Aquila Optimizer for Engineering Optimization Problems.","authors":"Honglin Kan, Yaping Xiao, Zhiliang Gao, Xuan Zhang","doi":"10.3390/biomimetics10090620","DOIUrl":"10.3390/biomimetics10090620","url":null,"abstract":"<p><p>The Aquila Optimizer (AO) is a novel and efficient optimization algorithm inspired by the hunting and searching behavior of Aquila. However, the AO faces limitations when tackling high-dimensional and complex optimization problems due to insufficient search capabilities and a tendency to prematurely converge to local optima, which restricts its overall performance. To address these challenges, this study proposes the Multi-Strategy Aquila Optimizer (MSAO) by integrating multiple enhancement techniques. Firstly, the MSAO introduces a random sub-dimension update mechanism, significantly enhancing its exploration capacity in high-dimensional spaces. Secondly, it incorporates memory strategy and dream-sharing strategy from the Dream Optimization Algorithm (DOA), thereby achieving a balance between global exploration and local exploitation. Additionally, the MSAO employs adaptive parameter and dynamic opposition-based learning to further refine the AO's original update rules, making them more suitable for a multi-strategy collaborative framework. In the experiment, the MSAO outperform eight state-of-the-art algorithms, including CEC-winning and enhanced AO variants, achieving the best optimization results on 55%, 69%, 69%, and 72% of the benchmark functions, respectively, which demonstrates its outstanding performance. Furthermore, ablation experiments validate the independent contributions of each proposed strategy, and the application of MSAO to five engineering problems confirms its strong practical value and potential for broader adoption.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 9","pages":""},"PeriodicalIF":3.9,"publicationDate":"2025-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12467012/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145147729","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Data-Driven Twisted String Actuation for Lightweight and Compliant Anthropomorphic Dexterous Hands.","authors":"Zhiyao Zheng, Jingwei Zhan, Zhaochun Li, Yucheng Wang, Chanchan Xu, Xiaojie Wang","doi":"10.3390/biomimetics10090621","DOIUrl":"10.3390/biomimetics10090621","url":null,"abstract":"<p><p>Anthropomorphic dexterous hands are crucial for robotic interaction in unstructured environments, yet their performance is often constrained by traditional actuation systems, which suffer from excessive weight, complexity, and limited compliance. Twisted String Actuators (TSAs) offer a promising alternative due to their high transmission ratio, lightweight design, and inherent compliance. However, their strong nonlinearity under variable loads poses significant challenges for high-precision control. This study presents an integrated approach combining data-driven modeling and biomimetic mechanism innovation to overcome these limitations. First, a data-driven modeling approach based on a dual hidden-layer Back Propagation Neural Network (BPNN) is proposed to predict TSA displacement under variable loads (0.1-4.2 kg) with high accuracy. Second, a lightweight, underactuated five-finger dexterous hand is developed, featuring a biomimetic three-phalanx structure and a tendon-spring transmission mechanism, achieving an ultra-lightweight design. Finally, a comprehensive experimental platform validates the system's performance, demonstrating precise bending angle prediction (via integrated BPNN-kinematic modeling), versatile gesture replication, and robust grasping capabilities (with a maximum fingertip force of 7.4 N). This work not only advances TSA modeling for variable-load applications but also provides a new paradigm for designing high-performance, lightweight dexterous hands in robotics.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 9","pages":""},"PeriodicalIF":3.9,"publicationDate":"2025-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12467424/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145147593","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"CF-PEEK vs. Titanium Dental Implants: Stress Distribution and Fatigue Performance in Variable Bone Qualities.","authors":"Nurdan Polat Sağsöz, Fahri Murat, Sema Nur Sevinç Gül, Abdullah Tahir Şensoy, Irfan Kaymaz","doi":"10.3390/biomimetics10090619","DOIUrl":"10.3390/biomimetics10090619","url":null,"abstract":"<p><p>This study aims to evaluate the biomechanical behavior of titanium and carbon fiber-reinforced polyetheretherketone (CF-PEEK) dental implants under varying bone densities and loading conditions using finite element analysis (FEA). A single-tooth mandibular molar implant system was modeled, comprising titanium or CF-PEEK abutment and fixture, and surrounding bone structures with four configurations: (I) fully cortical bone, (II) 2 mm cortical layer with trabecular bone, (III) 1 mm cortical with high-density trabecular bone, and (IV) 1 mm cortical with low-density trabecular bone. Vertical and oblique static loads of 100 N were applied to simulate masticatory forces. FEA results revealed that titanium implants exhibited higher von Mises stress values in the implant and abutment under oblique loading, exceeding 400 MPa, while CF-PEEK components showed reduced stress but significantly higher strain levels. Cortical and trabecular bone surrounding CF-PEEK implants received more uniform stress distribution, potentially minimizing stress shielding effects. However, fatigue life analyses indicated that CF-PEEK abutment and screw components were more susceptible to mechanical failure under oblique loads, particularly in low-density bone models. In conclusion, CF-PEEK implants offer a more physiological load transfer to bone and reduced stress shielding compared to titanium. However, their structural reliability under complex loading, especially in low-quality bone conditions, requires careful consideration. These findings support the potential use of CF-PEEK in select clinical scenarios but highlight the need for further material and design optimization.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 9","pages":""},"PeriodicalIF":3.9,"publicationDate":"2025-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12467904/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145147548","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"医学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}