利用机器人技术对海龟假肢脚蹼进行生物力学验证,替代动物临床试验

Nick van der Geest, Lorenzo García
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引用次数: 0

摘要

海龟是海洋生态系统的关键物种,目前所有物种都被列为濒危物种。这种威胁主要是由于渔网缠绕等人为因素造成的。这种纠缠往往是以海龟失去一个胸鳍为代价的。海龟失去鳍状肢后生存几率的降低是一个值得关注的问题。这个问题超出了单个动物的范畴,因为海龟的潜在灭绝可能对海洋健康产生有害影响,从而扰乱我们的生活方式。在这项工作中,在机器人技术的帮助下,我们测试了假肢脚蹼对失去一只脚蹼的海龟的适用性。在没有活体动物临床试验的情况下,我们以海龟为灵感的机器人进行的测试有助于证明假肢鳍的性能。机器人表明,假肢可以非常接近地模仿海龟的上下拍打,使动物能够重新控制翻滚,俯仰和偏航,尽管没有解剖关节和相关肌肉。此外,游泳速度测试提供的平均游泳速度为0.487 m/s,同时拖拽6 m的电缆,计算出的最大游泳速度为0.618 m/s,接近野生海龟的平均游泳速度0.6 m/s。我们的愿望是,这项研究的结果将为开源植入设计铺平道路,使全球的兽医专业人员能够帮助受伤的海龟。此外,这项研究有望激发更多基于动物的机器人设计,推进旨在帮助其他处于困境的动物的技术。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Employing Robotics for the Biomechanical Validation of a Prosthetic Flipper for Sea Turtles as a Substitute for Animal Clinical Trials
Sea turtles are a keystone species for the ocean’s ecosystem, with all species currently being listed as endangered. Such a threat is mainly due to human factors such as fishing net entanglement. This entanglement often comes at the expense of turtles losing a pectoral flipper. The reduction in a sea turtle’s survival odds upon losing a flipper is a significant concern. This issue extends beyond individual animals, as the potential extinction of sea turtles could have detrimental effects on ocean health and subsequently disrupt our lifestyles. In this work, with the help of robotics, we tested the suitability of a prosthetic flipper for sea turtles that have lost a flipper. Testing with our sea-turtle-inspired robot helped to demonstrate the prosthetic flipper’s performance without clinical trials in live animals. The robot showed that the prosthetic could closely mimic the sea turtle’s downstroke and upstroke, allowing the animal to regain control in roll, pitch, and yaw, despite the absence of anatomical joints and related muscles. Additionally, swim speed tests provided an average swim speed of 0.487 m/s while dragging 6 m of cable to give a calculated maximum swim speed of 0.618 m/s, coming close to the average swim speed of wild sea turtles of 0.6 m/s. Our aspiration is that the findings from this study will pave the way for an open-source implant design, empowering veterinary professionals globally to aid injured turtles. Furthermore, this research promises to inspire additional animal-based robotic designs, advancing technologies geared towards assisting other animals in distress.
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