Biomimetics最新文献

{"title":"Improved Anthropomorphic Robotic Hand for Architecture and Construction: Integrating Prestressed Mechanisms with Self-Healing Elastomers.","authors":"Mijin Kim, Rubaya Yaesmin, Hyungtak Seo, Hwang Yi","doi":"10.3390/biomimetics10050284","DOIUrl":"10.3390/biomimetics10050284","url":null,"abstract":"<p><p>Soft pneumatic robot-arm end-effectors can facilitate adaptive architectural fabrication and building construction. However, conventional pneumatic grippers often suffer from air leakage and tear, particularly under prolonged grasping and inflation-induced stress. To address these challenges, this study suggests an enhanced anthropomorphic gripper by integrating a pre-stressed reversible mechanism (PSRM) and a novel self-healing material (SHM) polyborosiloxane-Ecoflex™ hybrid polymer (PEHP) developed by the authors. The results demonstrate that PSRM finger grippers can hold various objects without external pressure input (12 mm displacement under a 1.2 N applied), and the SHM assists with recovery of mechanical properties upon external damage. The proposed robotic hand was evaluated through real-world construction tasks, including wall painting, floor plastering, and block stacking, showcasing its durability and functional performance. These findings contribute to promoting the cost-effective deployment of soft robotic hands in robotic construction.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 5","pages":""},"PeriodicalIF":3.4,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12108625/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144148985","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 Enhanced Human Evolutionary Optimization Algorithm for Global Optimization and Multi-Threshold Image Segmentation.","authors":"Liang Xiang, Xiajie Zhao, Jianfeng Wang, Bin Wang","doi":"10.3390/biomimetics10050282","DOIUrl":"10.3390/biomimetics10050282","url":null,"abstract":"<p><p>Thresholding image segmentation aims to divide an image into a number of regions with different feature attributes in order to facilitate the extraction of image features in the context of image detection and pattern recognition. However, existing threshold image-segmentation methods suffer from the problem of easily falling into locally optimal thresholds, resulting in poor image segmentation. In order to improve the image-segmentation performance, this study proposes an enhanced Human Evolutionary Optimization Algorithm (HEOA), known as CLNBHEOA, which incorporates Otsu's method as an objective function to significantly improve the image-segmentation performance. In the CLNBHEOA, firstly, population diversity is enhanced using the Chebyshev-Tent chaotic mapping refraction opposites-based learning strategy. Secondly, an adaptive learning strategy is proposed which combines differential learning and adaptive factors to improve the ability of the algorithm to jump out of the locally optimum threshold. In addition, a nonlinear control factor is proposed to better balance the global exploration phase and the local exploitation phase of the algorithm. Finally, a three-point guidance strategy based on Bernstein polynomials is proposed which enhances the local exploitation ability of the algorithm and effectively improves the efficiency of optimal threshold search. Subsequently, the optimization performance of the CLNBHEOA was evaluated on the CEC2017 benchmark functions. Experiments demonstrated that the CLNBHEOA outperformed the comparison algorithms by over 90%, exhibiting higher optimization performance and search efficiency. Finally, the CLNBHEOA was applied to solve six multi-threshold image-segmentation problems. The experimental results indicated that the CLNBHEOA achieved a winning rate of over 95% in terms of fitness function value, peak signal-to-noise ratio (PSNR), structural similarity (SSIM) and feature similarity (FSIM), suggesting that it can be considered a promising approach for multi-threshold image segmentation.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 5","pages":""},"PeriodicalIF":3.4,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12108916/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144149101","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":"Virtual-Integrated Admittance Control Method of Continuum Robot for Capturing Non-Cooperative Space Targets.","authors":"Lihua Wang, Zezhou Sun, Yaobing Wang, Jie Wang, Chuliang Yan","doi":"10.3390/biomimetics10050281","DOIUrl":"10.3390/biomimetics10050281","url":null,"abstract":"<p><p>Continuum robots (CRs) are highly effective in grasping moving targets in space through whole-arm grasping (WAG), offering broad applicability and reliable capture. These characteristics make CRs particularly suitable for capturing non-cooperative space targets. Compliant control plays a crucial role in ensuring safe and reliable interactions during the grasping process. This paper proposes a virtual-integrated admittance control (VIAC) method specifically designed to enhance WAG by CRs. By proactively adjusting the robot's trajectory before contact, the VIAC method effectively reduces the contact force exerted on the target during grasping, enabling compliant capture while preventing target escape and minimizing potential damage. This study first develops a mathematical model of the CR and addresses the inverse dynamics problem. Subsequently, the VIAC method is introduced to regulate contact force and improve grasping performance. This approach integrates virtual forces, derived from position information, with actual contact forces acting on the robot's links, facilitating trajectory replanning through an admittance controller. The virtual forces, constructed based on improved virtual potential fields, reduce the relative velocities of robot links with respect to the target during the approach, ensuring successful grasping. Simulation results validate the effectiveness of the VIAC method, demonstrating a significant reduction in contact force compared to conventional admittance control.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 5","pages":""},"PeriodicalIF":3.4,"publicationDate":"2025-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12108940/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144148909","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":"Attention-Based Multi-Objective Control for Morphing Aircraft.","authors":"Qien Fu, Changyin Sun","doi":"10.3390/biomimetics10050280","DOIUrl":"10.3390/biomimetics10050280","url":null,"abstract":"<p><p>This paper proposes a learning-based joint morphing and flight control framework for avian-inspired morphing aircraft. Firstly, a novel multi-objective multi-phase optimal control problem is formulated to synthesize the comprehensive flight missions, incorporating additional requirements such as fuel consumption, maneuverability, and agility of the morphing aircraft. Subsequently, an auxiliary problem, employing ϵ-constraint and augmented state methods, is introduced to yield a finite and locally Lipschitz continuous value function, which facilitates the construction of a neural network controller. Furthermore, a multi-phase pseudospectral method is derived to discretize the auxiliary problem and formulate the corresponding nonlinear programming problem, where open loop optimal solutions of the multi-task flight mission are generated. Finally, a learning-based feedback controller is established using data from the open loop solutions, where a temporal masked attention mechanism is developed to extract information from sequential data more efficiently. Simulation results demonstrate that the designed attention module in the learning scheme yields a significant 53.5% reduction in test loss compared to the baseline model. Additionally, the proposed learning-based joint morphing and flight controller achieves a 37.6% improvement in average tracking performance over the fixed wing configuration, while also satisfying performance requirements for fuel consumption, maneuverability, and agility.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 5","pages":""},"PeriodicalIF":3.4,"publicationDate":"2025-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12109448/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144149131","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":"Motion Patterns Under Multiple Constraints and Master-Slave Control of a Serial Modular Biomimetic Robot with 3-DOF Hydraulic Muscle-Driven Continuum Segments.","authors":"Yunrui Jia, Zengmeng Zhang, Junhao Guo, Yong Yang, Yongjun Gong","doi":"10.3390/biomimetics10050278","DOIUrl":"10.3390/biomimetics10050278","url":null,"abstract":"<p><p>Soft modular biomimetic robots, driven by flexible actuators, are extensively used in various fields due to their excellent flexibility, environmental adaptability, and isomorphism. However, existing flexible modules typically possess no more than two degrees of freedom for structural limitations. In this study, a three-degree-of-freedom biomimetic segment driven by water hydraulic artificial muscles (WHAMs) and supported by springs was proposed, achieving integrated and modular design. The continuum robot composed of this segment can execute earthworm-, snake-, and elephant trunk-biomimetic motion modes based on operational environmental constraints. During long-distance operational tasks, distinct segments of the continuum robot can adopt varying biomimetic configurations to meet specific requirements. The closed-loop control characteristic tests were conducted on a single segment to evaluate its motion characteristics. The isomorphic master controller was designed based on the motion range of a single segment, with the maximum bending angle deviation between the master controller and biomimetic segment not exceeding 4°, and the system demonstrating favorable stability.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 5","pages":""},"PeriodicalIF":3.4,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12109442/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144148962","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":"Vole Foraging-Inspired Dynamic Path Planning of Wheeled Humanoid Robots Under Workshop Slippery Road Conditions.","authors":"Hu Li, Yan Wang, Yixuan Guo, Jiawang Duan","doi":"10.3390/biomimetics10050277","DOIUrl":"10.3390/biomimetics10050277","url":null,"abstract":"<p><p>A vole foraging-inspired dynamic path-planning method considering slippery road conditions is proposed for wheeled humanoid robots. Glazed and oily roads create a high risk of slipping for wheeled humanoid robots and hinder the realization of high-speed movement. But in a dynamic environment, road conditions such as material, texture, and attachments vary uncertainly in both space and time, and cannot be processed as quickly and easily as moving obstacles. Inspired by the process of voles searching for food, to address this challenge, a slip-risk-assessment method based on time-space decoupling is designed and integrated into a grid-based environmental model. On this basis, the dynamic path-planning model is constructed by combining the cost functions and constraints based on the slip-risk information. A two-level non-periodic cyclical dynamic planning mechanism is proposed based on conditional triggering. It adaptively and cyclically calls the global planning algorithm and the local re-planning algorithm according to the characteristics of environmental changes to autonomously avoid high-slip-risk areas and moving obstacles in real time. The experimental results show the effectiveness and practicality of the proposed planning method.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 5","pages":""},"PeriodicalIF":3.4,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12109349/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144148917","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":"Trends in National R&D Projects on Biomimetics in South Korea.","authors":"Hyein Na, Eunhee Kim","doi":"10.3390/biomimetics10050275","DOIUrl":"10.3390/biomimetics10050275","url":null,"abstract":"<p><p>Imitating nature's mechanisms has enormous potential to improve our lives and tools. Biomimetics emulates nature's proven patterns and strategies to develop novel solutions widely applied in various fields. This study aims to propose an overall perspective and research direction for innovation using biomimetics. Using text network analysis and topic modeling, we analyzed the evolution of 5202 Korean R&D projects in biomimetics. The results indicate significant interdisciplinary collaborations between bioengineering, drug development, polymer chemistry, and robotics. Moreover, biomimetic national R&D has primarily focused on fundamental research and its trends reveal interconnection with topic clusters around intelligent robotics, biomedical engineering, and materials science. This study provides guidelines for governments and R&D organizations to establish biomimetic R&D plans and select convergence topics for innovation.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 5","pages":""},"PeriodicalIF":3.4,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12108786/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144149162","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":"The Protein Corona Paradox: Challenges in Achieving True Biomimetics in Nanomedicines.","authors":"Nicole M Mayordomo, Ane Zatarain-Beraza, Fabio Valerio, Victoria Álvarez-Méndez, Paula Turegano, Lucía Herranz-García, Amaia López de Aguileta, Nicolas Cattani, Ana Álvarez-Alonso, Mónica L Fanarraga","doi":"10.3390/biomimetics10050276","DOIUrl":"10.3390/biomimetics10050276","url":null,"abstract":"<p><p>Nanoparticles introduced into biological environments rapidly acquire a coating of biomolecules, forming a biocorona that dictates their biological fate. Among these biomolecules, proteins play a key role, but their interaction with nanoparticles during the adsorption process often leads to unfolding and functional loss. Evidence suggests that protein denaturation within the biocorona alters cellular recognition, signaling pathways, and immune responses, with significant implications for nanomedicine and nanotoxicology. This review explores the dynamic nature of the protein corona, emphasizing the influence of the local biological milieu on its stability. We synthesize findings from studies examining the physicochemical properties of nanoparticles-such as surface charge, hydrophobicity, and curvature-that contribute to protein structural perturbations. Understanding the factors governing protein stability on nanoparticle surfaces is essential for designing nanomaterials with improved targeting, biocompatibility, and controlled biological interactions. This review underscores the importance of preserving protein conformational integrity in the development of nanoparticles for biomedical applications.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 5","pages":""},"PeriodicalIF":3.4,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12108862/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144149107","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":"Advances in Zeroing Neural Networks: Bio-Inspired Structures, Performance Enhancements, and Applications.","authors":"Yufei Wang, Cheng Hua, Ameer Hamza Khan","doi":"10.3390/biomimetics10050279","DOIUrl":"10.3390/biomimetics10050279","url":null,"abstract":"<p><p>Zeroing neural networks (ZNN), as a specialized class of bio-Iinspired neural networks, emulate the adaptive mechanisms of biological systems, allowing for continuous adjustments in response to external variations. Compared to traditional numerical methods and common neural networks (such as gradient-based and recurrent neural networks), this adaptive capability enables the ZNN to rapidly and accurately solve time-varying problems. By leveraging dynamic zeroing error functions, the ZNN exhibits distinct advantages in addressing complex time-varying challenges, including matrix inversion, nonlinear equation solving, and quadratic optimization. This paper provides a comprehensive review of the evolution of ZNN model formulations, with a particular focus on single-integral and double-integral structures. Additionally, we systematically examine existing nonlinear activation functions, which play a crucial role in determining the convergence speed and noise robustness of ZNN models. Finally, we explore the diverse applications of ZNN models across various domains, including robot path planning, motion control, multi-agent coordination, and chaotic system regulation.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 5","pages":""},"PeriodicalIF":3.4,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12108775/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144149098","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 Comparison of Binary and Integer Encodings in Genetic Algorithms for the Maximum <i>k</i>-Coverage Problem with Various Genetic Operators.","authors":"Yoon Choi, Jingeun Kim, Yourim Yoon","doi":"10.3390/biomimetics10050274","DOIUrl":"10.3390/biomimetics10050274","url":null,"abstract":"<p><p>The maximum <i>k</i>-coverage problem (MKCP) is a problem of finding a solution that includes the maximum number of covered rows by selecting <i>k</i> columns from an <i>m</i> ×<i>n</i> matrix of 0s and 1s. This is an NP-hard problem that is difficult to solve in a realistic time; therefore, it cannot be solved with a general deterministic algorithm. In this study, genetic algorithms (GAs), an evolutionary arithmetic technique, were used to solve the MKCP. Genetic algorithms (GAs) are meta-heuristic algorithms that create an initial solution group, select two parent solutions from the solution group, apply crossover and repair operations, and replace the generated offspring with the previous parent solution to move to the next generation. Here, to solve the MKCP with binary and integer encoding, genetic algorithms were designed with various crossover and repair operators, and the results of the proposed algorithms were demonstrated using benchmark data from the OR-library. The performances of the GAs with various crossover and repair operators were also compared for each encoding type through experiments. In binary encoding, the combination of uniform crossover and random repair improved the average objective value by up to 3.24% compared to one-point crossover and random repair across the tested instances. The conservative repair method was not suitable for binary encoding compared to the random repair method. In contrast, in integer encoding, the combination of uniform crossover and conservative repair achieved up to 4.47% better average performance than one-point crossover and conservative repair. The conservative repair method was less suitable with one-point crossover operators than the random repair method, but, with uniform crossover, was better.</p>","PeriodicalId":8907,"journal":{"name":"Biomimetics","volume":"10 5","pages":""},"PeriodicalIF":3.4,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12108892/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144149079","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}