Biorobotic Systems Research Articles

Electroactive composite biofilms integrating Kombucha, Chlorella and synthetic proteinoid Proto-Brains.

In this study, we present electroactive biofilms made from a combination of Kombucha zoogleal mats and thermal proteinoids. These biofilms have potential applications in unconventional computing and robotic skin. Proteinoids are synthesized by thermally polymerizing amino acids, resulting in the formation of synthetic protocells that display electrical signalling similar to neurons. By incorporating proteinoids into Kombucha zoogleal cellulose mats, hydrogel biofilms can be created that have the ability to efficiently transfer charges, perform sensory transduction and undergo processing. We conducted a study on the memfractance and memristance behaviours of composite biofilms, showcasing their capacity to carry out unconventional computing operations. The porous nanostructure and electroactivity of the biofilm create a biocompatible interface that can be used to record and stimulate neuronal networks. In addition to in vitro neuronal interfaces, these soft electroactive biofilms show potential as components for bioinspired robotics, smart wearables, unconventional computing devices and adaptive biorobotic systems. Kombucha-proteinoids composite films are a highly customizable material that can be synthesized to suit specific needs. These films belong to a unique category of 'living' materials, as they have the ability to support cellular systems and improve bioelectronic functionality. This makes them an exciting prospect in various applications. Ongoing efforts are currently being directed towards enhancing the compositional tuning of conductivity, signal processing and integration within hybrid bioelectronic circuits.

Human Lower Extremity Motion Analysis introducing Kinovea

Human Motion is the most effective and fundamental functionality utilizing the lower extremities or legs. The replication of human movement is possible in the humanoid robots with simulation related prerequisites. The forward and backward motion simulation of the normal left and right leg is the primary requirement which has been demonstrated in this research paper. The balancing of body is feasible with the leg motion simulation in different conditions such as vertical acceleration and horizontal velocity. The leg motion video of 8secs with forward and backward movement has been taken into consideration for the simulation purpose to check the activity level of the legs. The similar movements can be mimicked in the autonomous bio-robotic systems. Keywords: Leg movement, Robotics, Kinovea, Motion simulation.

Recent advances in materials and applications for bioelectronic and biorobotic systems

AbstractThe ultimate goal of the advancements in bioelectronics and robotics is the creation of seamless interfaces between artificial devices and biological structures. Current efforts in this area have been focused on designing biocompatible, mechanically compliant, and minimally invasive electronic and robotic systems for a range of applications, such as motor control and sweat sensing. The purposeful design of bioelectronic and robotic systems using the principles of biomimicry enables the creation of biocompatible and life‐like machines and electronics. The success of such approaches relies on the new development and applications of soft materials, as well as methods of actuation and sensing that are inspired, either by composition, function, or properties, of the naturally occurring organisms. A combination of rigid structural components, soft actuators, and flexible sensors can enable the integration of such devices with biological organisms and eventually human users. In this review, we highlight the recent advances in biomimetic soft robotics and bioelectronics. We describe the soft robotic fabrication toolbox and modern solution in bioelectronics that, in our opinion, will enable the fusion of these fields by creating robotic bioelectronic systems. Future development in this area will require substantial integration of adaptable and responsive components at the biointerfaces.

An Integrated Flexible All‐Nanowire Infrared Sensing System with Record Photosensitivity

Infrared (IR) photodetectors are a key optoelectronic device and have thus attracted considerable research attention in recent years. Photosensitivity is an increasingly important device performance parameter for nanoscale photodetectors and image sensors, as it determines the ultimate imaging quality and contrast. However, photosensitivities of state-of-the-art low-dimensional nanostructure-based IR detectors are considerably low, limiting their practical applications. Herein, a biomimetic IR detection amplification (IRDA) system that boosts photosensitivity by several orders of magnitude by introducting nanowire field effect transistors (FETs), resulting in a peak photosensitivity of 7.6 × 104 under an illumination of 1342 nm, is presented. Consequently, high-contrast imaging of IR light is obtained on the flexible IRDA arrays. The image information can be then trained and recognized by an artificial neural network for higher image-recognition efficiency. This work provides a new perspective for developing high-performance IR imaging systems, and is expected to undoubtedly enlighten future work on artificial intelligence and biorobotic systems.

Theoretical Insights on Contraction-Type Iterative Learning Control for Biorobotic Systems with Preisach Hysteresis

This article offers new insights on the learning control approach developed by [Hu et al. IEEE/ASME Trans. Mechatronics, 19(1): 191–200, 2014]. Theoretical insights are further proposed to unveil why the contraction-type iterative learning control (ILC) schemes are suitable and effective in compensating for hysteresis, widely existing in biorobotic locomotion. Under such circumstances, iteration-based second-order dynamics is adopted to describe the biorobotic systems acted upon by one unknown Preisach hysteresis term. The memory clearing operator is mathematically proven to enable feasibility of contraction-type ILC methods, regardless of whether the initial state is accurately set or not. The simulation examples confirm that the developed iteration-based controller combined with a preceded operator effectively reduce tracking errors caused by the hysteresis nonlinearity. Furthermore, the new insights on theoretical feasibility are definitively corroborated in accordance with the previously published experimental results.

Biologically inspired control and modeling of (bio)robotic systems and some applications of fractional calculus in mechanics

In this paper, the applications of biologically inspired modeling and control of (bio)mechanical (non)redundant mechanisms are presented, as well as newly obtained results of author in mechanics which are based on using fractional calculus. First, it is proposed to use biological analog-synergy due to existence of invariant features in the execution of functional motion. Second, the model of (bio)mechanical system may be obtained using another biological concept called distributed positioning (DP), which is based on the inertial properties and actuation of joints of considered mechanical system. In addition, it is proposed to use other biological principles such as: principle of minimum interaction, which takes a main role in hierarchical structure of control and self-adjusting principle (introduce local positive/negative feedback on control with great amplifying), which allows efficiently realization of control based on iterative natural learning. Also, new, recently obtained results of the author in the fields of stability, electroviscoelasticity, and control theory are presented which are based on using fractional calculus (FC).

Design and Control of Chemomuscle: A Liquid-Propellant-Powered Muscle Actuation System

This paper describes the design and control of a new chemomuscle actuation system for robotic systems, especially the mobile systems inspired by biological principles. Developed based on the pneumatic artificial muscle, a chemomuscle actuation system features a high power density, as well as similar characteristics to the biological muscles. Furthermore, by introducing monopropellant (a special type of liquid fuel) as the energy storage media, the chemomuscle system leverages the high energy density of liquid fuel and provides a compact form of high-pressure gas supply with a simple structure. The introduction of monopropellant addresses the limitation of pneumatic supply on mobile devices and thus is expected to facilitate the future application of artificial muscle on biorobotic systems. In this paper, the design of a chemomuscle actuation system is presented, as well as a robust controller design that provides effective control for this highly nonlinear system. To demonstrate the proposed chemomuscle actuation system, an experimental prototype is constructed, on which the proposed control algorithm provides good tracking performance.

Biorobotics researcher: To be or not to be?

Much confusion exists within the robotics and the biology communities regarding the definition of biorobotics and the aims and strategies that characterize this approach. Not even the basic criteria for identifying biorobotic research are being applied consistently. Barbara Webb has taken a crucial step towards setting a common ground from which biorobotic systems can be described, analyzed, and compared.