Musculoskeletal systems are characterized by their structural softness and drive redundancy. The objective of this study was to reproduce these features using a tensegrity manipulator. The developed tensegrity manipulator was formed by replacing 40 of the 80 cables of class-1 tensegrity consisting of 20 struts with pneumatic cylinders to allow it to bend actively. This paper presents the design details of the manipulator and an analysis of its characteristics during various motions. We confirmed that this robotic platform could reproduce abstract features of the musculoskeletal system. In addition, we discuss the issues that must be addressed in the control of this robot according to the experimental results.
{"title":"Development of Tensegrity Manipulator Driven by 40 Pneumatic Cylinders for Investigating Functionality in Hyper-Redundant Musculoskeletal Systems","authors":"Yuhei Yoshimitsu, Shuhei Ikemoto","doi":"10.20965/jrm.2023.p1366","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1366","url":null,"abstract":"Musculoskeletal systems are characterized by their structural softness and drive redundancy. The objective of this study was to reproduce these features using a tensegrity manipulator. The developed tensegrity manipulator was formed by replacing 40 of the 80 cables of class-1 tensegrity consisting of 20 struts with pneumatic cylinders to allow it to bend actively. This paper presents the design details of the manipulator and an analysis of its characteristics during various motions. We confirmed that this robotic platform could reproduce abstract features of the musculoskeletal system. In addition, we discuss the issues that must be addressed in the control of this robot according to the experimental results.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567293","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Tissue formation from heterogeneous cell types, similar to those in vivo, is an important technique for development of new drugs and formation of artificial organs. In vivo tissues are complex arrangements of heterogeneous cells that interact with each other. To create such tissues in vitro, it is essential to develop a technique that arranges heterogeneous cells in an arbitrary configuration. Currently, we are developing a new gel patterning technique to create effective cell micropatterns by using photolithography and alginate gel, which inhibits cellular adhesion. In this study, we considered that a more flexible gel patterning technique was required for creating order-made formations of complex tissues. We created gel patterns by removing the alginate gel using laser processing, and cells were cultured on the formed patterns. Complex heterogeneous cell patterns were achieved by adjusting various technical parameters such as the laser power, spot diameter, and alginate gel film thickness. Based on our results, we anticipate that our technique will prove useful for the development of regenerative medicine and tissue engineering.
{"title":"Development of Cell Micropatterning Technique Using Laser Processing of Alginate Gel","authors":"Haruhiko Takemoto, Keito Sonoda, Kanae Ike, Yoichi Saito, Yoshitaka Nakanishi, Yuta Nakashima","doi":"10.20965/jrm.2023.p1185","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1185","url":null,"abstract":"Tissue formation from heterogeneous cell types, similar to those in vivo, is an important technique for development of new drugs and formation of artificial organs. In vivo tissues are complex arrangements of heterogeneous cells that interact with each other. To create such tissues in vitro, it is essential to develop a technique that arranges heterogeneous cells in an arbitrary configuration. Currently, we are developing a new gel patterning technique to create effective cell micropatterns by using photolithography and alginate gel, which inhibits cellular adhesion. In this study, we considered that a more flexible gel patterning technique was required for creating order-made formations of complex tissues. We created gel patterns by removing the alginate gel using laser processing, and cells were cultured on the formed patterns. Complex heterogeneous cell patterns were achieved by adjusting various technical parameters such as the laser power, spot diameter, and alginate gel film thickness. Based on our results, we anticipate that our technique will prove useful for the development of regenerative medicine and tissue engineering.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135568009","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Liposome-based molecular robots that molecular systems are integrated into a giant liposome have been proposed; they are expected to be applied in the fields of medicine, environmental science, food science, and energy science. However, the performance of these molecular robotic components, including intelligence, sensors, and actuators, still hinders their practical use. In particular, the actuators used in the molecular robots, such as molecular motors, do not provide sufficient performance to move the giant liposomes. Hence, we propose an osmotic-engine-driven liposome and demonstrate the migration of liposomes in a microfluidic channel by applying a salt concentration difference between the front and rear of the liposome. Although the migration mechanism is simple and has the potential to provide sufficient mobility performance, control techniques for the movement speed and on/off switching are not established. Herein, we describe a speed control method of osmotic-engine-driven liposomes using pore-forming membrane proteins. In this study, we evaluated the effect of reconstituted α-hemolysin (αHL) nanopores on the water permeability through lipid bilayers. Thereafter, we demonstrated the change in displacement speeds of liposomes with and without nanopores. We expect the speed control method using nanopores to be applied to the liposome-based molecular robots.
{"title":"Control of Osmotic-Engine-Driven Liposomes Using Biological Nanopores","authors":"Hinata Shibuya, Shun Okada, Kan Shoji","doi":"10.20965/jrm.2023.p1213","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1213","url":null,"abstract":"Liposome-based molecular robots that molecular systems are integrated into a giant liposome have been proposed; they are expected to be applied in the fields of medicine, environmental science, food science, and energy science. However, the performance of these molecular robotic components, including intelligence, sensors, and actuators, still hinders their practical use. In particular, the actuators used in the molecular robots, such as molecular motors, do not provide sufficient performance to move the giant liposomes. Hence, we propose an osmotic-engine-driven liposome and demonstrate the migration of liposomes in a microfluidic channel by applying a salt concentration difference between the front and rear of the liposome. Although the migration mechanism is simple and has the potential to provide sufficient mobility performance, control techniques for the movement speed and on/off switching are not established. Herein, we describe a speed control method of osmotic-engine-driven liposomes using pore-forming membrane proteins. In this study, we evaluated the effect of reconstituted α-hemolysin (αHL) nanopores on the water permeability through lipid bilayers. Thereafter, we demonstrated the change in displacement speeds of liposomes with and without nanopores. We expect the speed control method using nanopores to be applied to the liposome-based molecular robots.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135568014","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A Micro Electro-Mechanical System (MEMS) is a micro-sized mechatronic device based on semiconductor integrated-circuit manufacturing technology. MEMS technology is inherently a very powerful tool for researchers to manipulate and measure the microscopic biological components of biological tissues since their basic constituent units, cells and intracellular microstructures, are also micron or even submicron in size. MEMS technology applied to medicine and life sciences is called Bio-MEMS. Many Bio-MEMS devices and technologies have been developed in recent years, including microfluidic devices for cell culture, manipulation, and measurement, as well as lab-on-a-chip devices for chemical reactions and analyses on MEMS devices. This special issue consists of 13 papers: 1 review article, 1 letter, and 11 research papers. These papers include studies on mechanical stress on cells using MEMS devices, the control of cell functions through microfabrication techniques, cell measurement and in vivo microenvironment simulation using microfluidic devices, and basic research on wearable devices and self-assembling microstructures using MEMS technologies. The editorial committee members are confident that this special issue will make a significant contribution to the further development of Bio-MEMS. We sincerely appreciate the excellent contributions of the authors and the time and effort of the reviewers. We would also like to thank the editorial board of the Journal of Robotics and Mechatronics for their support of this special issue.
{"title":"Special Issue on Bio-MEMS","authors":"Shoichiro Fujisawa, Katsuya Sato, Kazuyuki Minami, Kazuaki Nagayama, Ryo Sudo, Hiromi Miyoshi, Yuta Nakashima, Kennedy Omondi Okeyo, Tasuku Nakahara","doi":"10.20965/jrm.2023.p1121","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1121","url":null,"abstract":"A Micro Electro-Mechanical System (MEMS) is a micro-sized mechatronic device based on semiconductor integrated-circuit manufacturing technology. MEMS technology is inherently a very powerful tool for researchers to manipulate and measure the microscopic biological components of biological tissues since their basic constituent units, cells and intracellular microstructures, are also micron or even submicron in size. MEMS technology applied to medicine and life sciences is called Bio-MEMS. Many Bio-MEMS devices and technologies have been developed in recent years, including microfluidic devices for cell culture, manipulation, and measurement, as well as lab-on-a-chip devices for chemical reactions and analyses on MEMS devices. This special issue consists of 13 papers: 1 review article, 1 letter, and 11 research papers. These papers include studies on mechanical stress on cells using MEMS devices, the control of cell functions through microfabrication techniques, cell measurement and in vivo microenvironment simulation using microfluidic devices, and basic research on wearable devices and self-assembling microstructures using MEMS technologies. The editorial committee members are confident that this special issue will make a significant contribution to the further development of Bio-MEMS. We sincerely appreciate the excellent contributions of the authors and the time and effort of the reviewers. We would also like to thank the editorial board of the Journal of Robotics and Mechatronics for their support of this special issue.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567134","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yuta Kishimoto, Sachiko Ide, Toyohiro Naito, Yuta Nakashima, Yoshitaka Nakanishi, Noritada Kaji
Microplastics (MPs) can adsorb heavy metals and metalloids and may cause a potential health hazard. Precise measurements of their size, shape, composition, and concentration at a single-MP level are important to evaluate their potential toxicity and identify their original source. However, current single-MP analytical methods such as micro-Raman spectroscopy and scanning electron microscopy have low throughput. Therefore, in this study, we applied the ion current sensing method, which has been used for single cell analysis, to single-MP analysis and examined whether size measurement and composition analysis of MPs at the single particle level are possible. In single-MP measurements, plastic particles must be mono-dispersed in solution at least within the measurement time. The agglomeration behavior was carefully observed after adding sodium dodecyl sulfate to tris-borate-EDTA buffer at 2–16 mM. Under these conditions, the size of polystyrene beads could be measured using the ion current sensing under the mono-dispersed condition. Next, ion current sensing was performed on four pseudo MPs fabricated from different materials (polyethylene, polyethylene terephthalate, polypropylene, and polyvinyl chloride) that were mechanically grazed and UV-irradiated to imitate real marine MPs. Although significant differences in the ion current signals from different material MPs were not observed, fast (100 MPs within 2 s) and precise measurements in the MPs’ sizes at a single-MP level were successfully achieved.
{"title":"Development of a Microfluidic Ion Current Measurement System for Single-Microplastic Detection","authors":"Yuta Kishimoto, Sachiko Ide, Toyohiro Naito, Yuta Nakashima, Yoshitaka Nakanishi, Noritada Kaji","doi":"10.20965/jrm.2023.p1193","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1193","url":null,"abstract":"Microplastics (MPs) can adsorb heavy metals and metalloids and may cause a potential health hazard. Precise measurements of their size, shape, composition, and concentration at a single-MP level are important to evaluate their potential toxicity and identify their original source. However, current single-MP analytical methods such as micro-Raman spectroscopy and scanning electron microscopy have low throughput. Therefore, in this study, we applied the ion current sensing method, which has been used for single cell analysis, to single-MP analysis and examined whether size measurement and composition analysis of MPs at the single particle level are possible. In single-MP measurements, plastic particles must be mono-dispersed in solution at least within the measurement time. The agglomeration behavior was carefully observed after adding sodium dodecyl sulfate to tris-borate-EDTA buffer at 2–16 mM. Under these conditions, the size of polystyrene beads could be measured using the ion current sensing under the mono-dispersed condition. Next, ion current sensing was performed on four pseudo MPs fabricated from different materials (polyethylene, polyethylene terephthalate, polypropylene, and polyvinyl chloride) that were mechanically grazed and UV-irradiated to imitate real marine MPs. Although significant differences in the ion current signals from different material MPs were not observed, fast (100 MPs within 2 s) and precise measurements in the MPs’ sizes at a single-MP level were successfully achieved.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567136","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Single-cell screening, which has revolutionized the life sciences, is an important method for detecting, separating, or treating specific cells based on desired characteristics. Previously, single cells of interest were manually identified in an image, which required human labor and time. We developed an automated photopolymerization system to encapsulate suspended single cells in approximately 50-µm photo-crosslinkable hydrogel squares. An image was captured, and single cells were selected from grouped cells based on image processing. A generated image was transferred to a digital micromirror device (DMD), and in parallel, target-suspended single cells were encapsulated in gelatin methacryloyl (GelMA) hydrogels. We built a data transfer platform based on a Power Automate Desktop (PAD), completed the data transfer, and projected the processed image onto a sample in 10 s, ensuring a minimum alignment error of 6.2 µm.
{"title":"Image-Based Gel Encapsulation of Suspended Single Cells for Parallel Single-Cell Screening","authors":"Venkatesh Kumar Panneer Selvam, Muhammad Luqman Arief Bin Kamaludin, Ghulam Murtaza, Rifat Hussain Chowdhury, Tanmay Debnath, Shunya Okamoto, Takayuki Shibata, Tuhin Subhra Santra, Moeto Nagai","doi":"10.20965/jrm.2023.p1177","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1177","url":null,"abstract":"Single-cell screening, which has revolutionized the life sciences, is an important method for detecting, separating, or treating specific cells based on desired characteristics. Previously, single cells of interest were manually identified in an image, which required human labor and time. We developed an automated photopolymerization system to encapsulate suspended single cells in approximately 50-µm photo-crosslinkable hydrogel squares. An image was captured, and single cells were selected from grouped cells based on image processing. A generated image was transferred to a digital micromirror device (DMD), and in parallel, target-suspended single cells were encapsulated in gelatin methacryloyl (GelMA) hydrogels. We built a data transfer platform based on a Power Automate Desktop (PAD), completed the data transfer, and projected the processed image onto a sample in 10 s, ensuring a minimum alignment error of 6.2 µm.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567294","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
We previously proposed on the underwater cable-driven parallel robot (UCDPR), a system comprising multiple surface robots, and designed a modeling and trajectory tracking control method for it. However, the conventional trajectory tracking control of the UCDPR using the kinematic controller faced several issues. These included challenges in control gain tuning due to model uncertainty and a decline in trajectory tracking performance caused by changes in system characteristics due to environmental factors like current velocity. In response, this study focuses on the development of an adaptive kinematic controller. The aim is to mitigate the effects of uncertainties and other factors while ensuring effective trajectory tracking. This is achieved by incorporating an adaptive modification term into the conventional kinematic controller, which can be tuned adaptively in real-time. To validate the effectiveness of the adaptive kinematic controller, we conducted numerical simulations using a planar 2-DOF UCDPR.
{"title":"Adaptive Kinematic Control of Underwater Cable-Driven Parallel Robot","authors":"Katutoshi Kodama, Akihiro Morinaga, Ikuo Yamamoto","doi":"10.20965/jrm.2023.p1300","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1300","url":null,"abstract":"We previously proposed on the underwater cable-driven parallel robot (UCDPR), a system comprising multiple surface robots, and designed a modeling and trajectory tracking control method for it. However, the conventional trajectory tracking control of the UCDPR using the kinematic controller faced several issues. These included challenges in control gain tuning due to model uncertainty and a decline in trajectory tracking performance caused by changes in system characteristics due to environmental factors like current velocity. In response, this study focuses on the development of an adaptive kinematic controller. The aim is to mitigate the effects of uncertainties and other factors while ensuring effective trajectory tracking. This is achieved by incorporating an adaptive modification term into the conventional kinematic controller, which can be tuned adaptively in real-time. To validate the effectiveness of the adaptive kinematic controller, we conducted numerical simulations using a planar 2-DOF UCDPR.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135567300","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Haptics applications are receiving increasing attention in entertainment, medical support systems, and various industries. Three-dimensional (3D) haptics is important to provide users real experiences. Conventional haptic devices consist of many motors and mechanical elements grounded in an environment. Therefore, they are large in size and heavy. Haptic devices using asymmetric vibrations can display illusion forces with mobile structures. However, they need additional structures (comprising actuators) to generate a 3D illusion force; however, the operational mechanism becomes complex. To solve this problem, we propose the use of a 3-degree-of-freedom (3DOF) oscillatory actuator that can generate a 3DOF vibration using only one actuator. This study describes the basic characteristics and operating verification of the 3DOF oscillatory actuator. The static thrust characteristics are quantified and analyzed using a finite element method. The dynamics are calculated based on numerical simulations using a dynamic model. The prototype’s experimental results show that the 3DOF actuator can generate 3DOF vibration.
{"title":"Development of Compact 3-Degree-of-Freedom Oscillatory Actuator","authors":"Akira Heya, Ryosuke Nakamura, Katsuhiro Hirata","doi":"10.20965/jrm.2023.p1312","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1312","url":null,"abstract":"Haptics applications are receiving increasing attention in entertainment, medical support systems, and various industries. Three-dimensional (3D) haptics is important to provide users real experiences. Conventional haptic devices consist of many motors and mechanical elements grounded in an environment. Therefore, they are large in size and heavy. Haptic devices using asymmetric vibrations can display illusion forces with mobile structures. However, they need additional structures (comprising actuators) to generate a 3D illusion force; however, the operational mechanism becomes complex. To solve this problem, we propose the use of a 3-degree-of-freedom (3DOF) oscillatory actuator that can generate a 3DOF vibration using only one actuator. This study describes the basic characteristics and operating verification of the 3DOF oscillatory actuator. The static thrust characteristics are quantified and analyzed using a finite element method. The dynamics are calculated based on numerical simulations using a dynamic model. The prototype’s experimental results show that the 3DOF actuator can generate 3DOF vibration.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135568006","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Vascular remodeling is a crucial process for the effective delivery of oxygen and nutrients to the entire body during vascular formation. However, detailed mechanisms underlying vascular remodeling are not yet fully understood owing to the absence of an appropriate experimental model. To address this, in this study, we utilized a microfluidic vascular model with perivascular cells to investigate the mechanism of vascular remodeling by culturing human umbilical vein endothelial cells (HUVECs) and mesenchymal stem cells (MSCs) in a microfluidic device. We compared two different cell culture conditions: culturing HUVECs and MSCs (1) separately in different channels and (2) in the same channel. In both conditions, microvascular networks covered with perivascular cells were formed. Interestingly, a significant inward vascular remodeling occurred over time when HUVECs and MSCs were cultured in different channels. This remodeling was mediated by direct endothelial–perivascular crosstalk through α 6 integrin. Furthermore, computational fluid analysis revealed that hypothetical shear stress on the luminal surface of microvessels was attenuated during inward vascular remodeling, suggesting that the remodeling might be an adaptive change. Our findings and the microfluidic model will be useful not only for further elucidation of mechanisms underlying physiological and pathological vascular remodeling but also for constructing functional vascularized tissues and organs by controlling vascular remodeling.
{"title":"Analysis of Inward Vascular Remodeling Focusing on Endothelial–Perivascular Crosstalk in a Microfluidic Device","authors":"Ryosuke Murai, Masafumi Watanabe, Ryo Sudo","doi":"10.20965/jrm.2023.p1165","DOIUrl":"https://doi.org/10.20965/jrm.2023.p1165","url":null,"abstract":"Vascular remodeling is a crucial process for the effective delivery of oxygen and nutrients to the entire body during vascular formation. However, detailed mechanisms underlying vascular remodeling are not yet fully understood owing to the absence of an appropriate experimental model. To address this, in this study, we utilized a microfluidic vascular model with perivascular cells to investigate the mechanism of vascular remodeling by culturing human umbilical vein endothelial cells (HUVECs) and mesenchymal stem cells (MSCs) in a microfluidic device. We compared two different cell culture conditions: culturing HUVECs and MSCs (1) separately in different channels and (2) in the same channel. In both conditions, microvascular networks covered with perivascular cells were formed. Interestingly, a significant inward vascular remodeling occurred over time when HUVECs and MSCs were cultured in different channels. This remodeling was mediated by direct endothelial–perivascular crosstalk through α 6 integrin. Furthermore, computational fluid analysis revealed that hypothetical shear stress on the luminal surface of microvessels was attenuated during inward vascular remodeling, suggesting that the remodeling might be an adaptive change. Our findings and the microfluidic model will be useful not only for further elucidation of mechanisms underlying physiological and pathological vascular remodeling but also for constructing functional vascularized tissues and organs by controlling vascular remodeling.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135568008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Numerous training simulators have been developed using virtual reality (VR) owing to their various advantages. Systems for training machine operations with physical movements face differences in the operational feel between actual and virtual machines. Moreover, virtual training is problematic in safety education because trainees in safe virtual environments can exhibit unsafe behavior in reality. To solve these problems, a previous study developed a virtual reality (VR) system to train a lathe operation with mixed reality using a motion capture system. This study included a function to teach the procedure and safety precautions for straight turning operations using a lathe. To evaluate the training effectiveness of this system, an experiment was conducted to compare learning using a video. Testees were divided into a simulator group, who learned with the system, and a video group, who learned with the video material. Work on the actual lathe by each testee after learning, was evaluated. Consequently, the actual work by the testees who used this system had fewer errors and shorter standstill times in which they attempted to recollect the next phase task. Although the number of trainees was small, this relationship had a statistical advantage. In the actual work, all the testees in the video group entered the danger area; however, only half of the testees in the simulator group entered the danger area. Therefore, a trainee using a simulator can remember the work process more reliably and accurately and perform it safely. Moreover, trainees who have undergone training several times should be able to perform actual work without making operational errors or engaging in unsafe behaviors.
{"title":"Training Simulator for Manual Lathe Operation Using Motion Capture – Addition of Teaching Function and Evaluation of Training Effectiveness –","authors":"Nobuyoshi Hashimoto","doi":"10.20965/jrm.2023.p0145","DOIUrl":"https://doi.org/10.20965/jrm.2023.p0145","url":null,"abstract":"Numerous training simulators have been developed using virtual reality (VR) owing to their various advantages. Systems for training machine operations with physical movements face differences in the operational feel between actual and virtual machines. Moreover, virtual training is problematic in safety education because trainees in safe virtual environments can exhibit unsafe behavior in reality. To solve these problems, a previous study developed a virtual reality (VR) system to train a lathe operation with mixed reality using a motion capture system. This study included a function to teach the procedure and safety precautions for straight turning operations using a lathe. To evaluate the training effectiveness of this system, an experiment was conducted to compare learning using a video. Testees were divided into a simulator group, who learned with the system, and a video group, who learned with the video material. Work on the actual lathe by each testee after learning, was evaluated. Consequently, the actual work by the testees who used this system had fewer errors and shorter standstill times in which they attempted to recollect the next phase task. Although the number of trainees was small, this relationship had a statistical advantage. In the actual work, all the testees in the video group entered the danger area; however, only half of the testees in the simulator group entered the danger area. Therefore, a trainee using a simulator can remember the work process more reliably and accurately and perform it safely. Moreover, trainees who have undergone training several times should be able to perform actual work without making operational errors or engaging in unsafe behaviors.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134904443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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