A swimming robot actuated by living muscle tissue

Hugh Herr,Robert G Dennis

doi:10.1186/1743-0003-1-6

Abstract

Biomechatronics is the integration of biological components with artificial devices, in which the biological component confers a significant functional capability to the system, and the artificial component provides specific cellular and tissue interfaces that promote the maintenance and functional adaptation of the biological component. Based upon functional performance, muscle is potentially an excellent mechanical actuator, but the larger challenge of developing muscle-actuated, biomechatronic devices poses many scientific and engineering challenges. As a demonstratory proof of concept, we designed, built, and characterized a swimming robot actuated by two explanted frog semitendinosus muscles and controlled by an embedded microcontroller. Using open loop stimulation protocols, the robot performed basic swimming maneuvers such as starting, stopping, turning (turning radius ~400 mm) and straight-line swimming (max speed >1/3 body lengths/second). A broad spectrum antibiotic/antimycotic ringer solution surrounded the muscle actuators for long term maintenance, ex vivo. The robot swam for a total of 4 hours over a 42 hour lifespan (10% duty cycle) before its velocity degraded below 75% of its maximum. The development of functional biomechatronic prototypes with integrated musculoskeletal tissues is the first critical step toward the long term objective of controllable, adaptive and robust biomechatronic robots and prostheses.

Highlights

Many technological barriers exist for the implementation of life-like mobility in robotic and prosthetic systems
As a possible resolution to these challenges, we consider in this investigation the use of living muscle tissue as a viable actuator for synthetic devices
Robot B1a swam for a sum total of 45 minutes over a 7.5 hour lifespan (10% duty cycle), after which its swimming velocity degraded below 75% of its maximum value even after a 30 minute period of swimming inactivity

Summary

Introduction

Many technological barriers exist for the implementation of life-like mobility in robotic and prosthetic systems. Included among these barriers are (1) the availability of high-energy density storage media, (2) the availability of adequate muscle-like actuators, and (3) the availability of biologically inspired sensory technologies. In its function as a motor, muscle acts to provide positive mechanical work at a considerable aerobic transduction efficiency, or 1000 Joules of work per gram of glucose consumed [7]. It is a "smart material", having integrated sensors for the (page number not for citation purposes)

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