Bioinspiration & Biomimetics最新文献

A remarkable variety of organisms use metachronal coordination (i.e. numerous neighboring appendages beating sequentially with a fixed phase lag) to swim or pump fluid. This coordination strategy is used by microorganisms to break symmetry at small scales where viscous effects dominate and flow is time-reversible. Some larger organisms use this swimming strategy at intermediate scales, where viscosity and inertia both play important roles. However, the role of individual propulsor kinematics-especially across hydrodynamic scales-is not well-understood, though the details of propulsor motion can be crucial for the efficient generation of flow. To investigate this behavior, we developed a new soft robotic platform using magnetoactive silicone elastomers to mimic the metachronally coordinated propulsors found in swimming organisms. Furthermore, we present a method to passively encode spatially asymmetric beating patterns in our artificial propulsors. We investigated the kinematics and hydrodynamics of three propulsor types, with varying degrees of asymmetry, using Particle Image Velocimetry and high-speed videography. We find that asymmetric beating patterns can move considerably more fluid relative to symmetric beating at the same frequency and phase lag, and that asymmetry can be passively encoded into propulsors via the interplay between elastic and magnetic torques. Our results demonstrate that nuanced differences in propulsor kinematics can substantially impact fluid pumping performance. Our soft robotic platform also provides an avenue to explore metachronal coordination at the meso-scale, which in turn can inform the design of future bioinspired pumping devices and swimming robots.

To analyse walking, running or hopping motions, models with high degrees of freedom are usually used. However simple reductionist models are advantageous within certain limits. In a simple manner, the hopping motion is generally modelled by a spring-mass system, resulting in piecewise smooth dynamics with marginally stable periodic solutions. For a more realistic behaviour, the spring is replaced by a variety of muscle models due to which asymptotically stable periodic motions may occur. The intrinsic properties of the muscle model, i.e. preflexes, are usually taken into account in three complexities-constant, linear and Hill-type. In this paper, we propose a semi-closed form feed-forward control which represents the muscle activation and results in symmetrical hopping motion. The research question is whether hopping motions with symmetric force-time history have advantages over asymmetric ones in two aspects. The first aspect is its applicability for describing human motion. The second aspect is related to robotics where the efficiency is expressed in term of performance measures. The symmetric systems are compared with each other and with those from the literature using performance measures such as hopping height, energetic efficiency, stability of the periodic orbit, and dynamical robustness estimated by the local integrity measure (LIM). The paper also demonstrates that the DynIn MatLab Toolbox that has been developed for the estimation of the LIM of equilibrium points is applicable for periodic orbits.

Like other odontocetes, Risso's dolphins actively emit clicks and passively listen to the echoes during echolocation. However, the head anatomy of Risso's dolphins differs from that of other odontocetes by a unique vertical cleft along the anterior surface of the forehead and a differently-shaped lower jaw. In this study, 3D finite-element sound reception and production models were constructed based on computed tomography (CT) data of a deceased Risso's dolphin. Our results were verified by finding good agreement with experimental measurements of hearing sensitivity. Moreover, the acoustic pathway for sounds to travel from the seawater into the dolphin's tympanoperiotic complexes (TPCs) was computed. The gular reception mechanism, previously discovered inDelphinus delphisandZiphius cavirostris, was also found in this species. The received sound pressure levels and relative displacement at TPC surfaces were compared between the cases with and without the mandibular fats or mandible. The results demonstrate a pronounced wave-guiding role of the mandibular fats and a limited bone-conductor role of the mandible. For sound production modelling, we digitally filled the cleft with neighbouring soft tissues, creating a hypothetical 'cleftless' head. Comparison between sound travelling through a 'cleftless' head vs. an original head indicates that the distinctive cleft plays a limited role in biosonar sound propagation.

Autonomous ocean-exploring vehicles have begun to take advantage of onboard sensor measurements of water properties such as salinity and temperature to locate oceanic features in real time. Such targeted sampling strategies enable more rapid study of ocean environments by actively steering towards areas of high scientific value. Inspired by the ability of aquatic animals to navigate via flow sensing, this work investigates hydrodynamic cues for accomplishing targeted sampling using a palm-sized robotic swimmer. As proof-of-concept analogy for tracking hydrothermal vent plumes in the ocean, the robot is tasked with locating the center of turbulent jet flows in a 13,000-liter water tank using data from onboard pressure sensors. To learn a navigation strategy, we first implemented RL on a simulated version of the robot navigating in proximity to turbulent jets. After training, the RL algorithm discovered an effective strategy for locating the jets by following transverse velocity gradients sensed by pressure sensors located on opposite sides of the robot. When implemented on the physical robot, this gradient following strategy enabled the robot to successfully locate the turbulent plumes at more than twice the rate of random searching. Additionally, we found that navigation performance improved as the distance between the pressure sensors increased, which can inform the design of distributed flow sensors in ocean robots. Our results demonstrate the effectiveness and limits of flow-based navigation for autonomously locating hydrodynamic features of interest.

Soft actuators made of soft materials cannot generate precisely efficient output forces compared to rigid actuators. It is a promising strategy to equip soft actuators with variable stiffness modules of layer jamming mechanism, which could increase their stiffness as needed. Inspired by the gecko's the array of setae, bionic adhesive flaps with inclined micropillars are applied in layer jamming mechanism. In this paper, after the manufacturing process of the layer jamming actuator based on the bionic adhesive flaps is described, the equivalent stiffness models of the whole actuator are established in the unjammed and jammed states. And the shear adhesive force of a single micropillar is calculated based on the Kendall viscoelastic band model. The finite element simulation results of two bionic adhesive flaps show that the interlaminar shear stress and stiffness increase with the increase of pressure. The measurement of shear adhesive force show that the critical shear adhesive force of the bionic adhesive material is 3.2 times that of polyethylene terephthalate (PET) material, and exhibit the ability of anisotropic adhesion behavior. The variable stiffness performance of the layer jamming actuator based on bionic adhesive flaps is evaluated by three test methods, and the max stiffness reaches 8.027 N mm^-1, which is 1.5 times higher than the stiffness of the layer jamming actuator based on the PET flaps. All results of simulation and experiment effectively verify the validity and superiority of applying the bionic adhesive flaps to the layer jamming mechanism to enhance the stiffness.

In order to adapt to complex and changing environments, animals have a wide variety of locomotor forms, which has inspired the investigation of their deformation and driving mechanisms. In this paper, we propose a computational design method for muscle-driven soft robots to satisfy desired deformations, aiming to mimic the deformation behavior of muscle-driven animals in nature. In this paper, we generate the ideal muscle-driven layout for the soft robot by inputting an initial shape and a desired shape, so that it can closely achieve the desired deformation. The material point method is utilized to simulate the soft medium so as to achieve the effect of coupling and coordinated deformation of arbitrary shapes. Our method efficiently searches for muscle layouts corresponding to various deformations and realizes the deformation behaviors of a variety of bio-inspired robots, including soft robots such as bionic snakes, frogs, and human faces. Experimental results show that for both the bionic snake and frog soft robots, the overlap of the geometric contour regions between the actual and simulated deformations is more than 90%, which validates the effectiveness of the method. In addition, the global muscle distributions of the bionic snake and human face soft robots during motion are generated and validated by effective simulation.

In this paper, the innovative design of a robotic hand with soft jointed structure is carried out and a tendon-driven mechanism, a master-slave motor coordinated drive mechanism, a thumb coupling transmission mechanism and a thumb steering mechanism are proposed. These innovative designs allow for more effective actuation in each finger, enhancing the load capacity of the robotic hand while maintaining key performance indicators such as dexterity and adaptability. A mechanical model of the robotic finger was made to determine the application limitations and load capacity. The robotic hand was then prototyped for a set of experiments. The experimental results showed that the proposed theoretical model were reliable. Also, the fingertip force of the robotic finger could reach up to 10.3 N, and the load force could reach up to 72.8 N. When grasping target objects of different sizes and shapes, the robotic hand was able to perform the various power grasping and precision grasping in the Cutkosky taxonomy. Moreover, the robotic hand had good flexibility and adaptability by means of adjusting the envelope state autonomously.

Social infrastructure networks, essential for daily life and economic activities, encompass utilities such as water, electricity, roads, and telecommunications. Dynamic remodeling of these systems is crucial for responding to continuous changes, unexpected events, and increased demand. This study proposes a new dynamic remodeling model inspired by biological mechanisms, focusing on a model based on the chemotaxis of slime molds. Slime molds adapt spontaneously to environmental changes by remodeling through the growth and degeneration of tubes. This capability can be applied to optimizing and dynamic remodeling social infrastructure networks. This study elucidated the chemotactic response characteristics of slime molds using biological experiments. The mold's response was observed by considering changes in the concentration of chemicals as environmental changes, confirming that slime molds adapt to environmental changes by shortening their periodic cycles. Subsequently, based on this dynamic response, we propose a new dynamic model (oscillated Physarum solver, O-PS) that extends the existing Physarum solver (PS). Numerical simulations demonstrated that the O-PS possesses rapid and efficient path-remodeling capabilities. In particular, within a simplified maze network, the O-PS was confirmed to have the same shortest-path searching ability as the PS, while being capable of faster remodeling. This study offers a new approach for optimizing and dynamically remodeling social infrastructure networks by mimicking biological mechanisms, enabling the rapid identification of solutions considering multiple objectives under complex constraints. Furthermore, the variation in convergence speed with oscillation frequency in the O-PS suggests flexibility in responding to environmental changes. Further research is required to develop more effective remodeling strategies.