Pub Date : 2024-09-11DOI: 10.1126/scirobotics.adp3260
Marta Gherardini, Valerio Ianniciello, Federico Masiero, Flavia Paggetti, Daniele D’Accolti, Eliana La Frazia, Olimpia Mani, Stefania Dalise, Katarina Dejanovic, Noemi Fragapane, Luca Maggiani, Edoardo Ipponi, Marco Controzzi, Manuela Nicastro, Carmelo Chisari, Lorenzo Andreani, Christian Cipriani
The loss of a hand disrupts the sophisticated neural pathways between the brain and the hand, severely affecting the level of independence of the patient and the ability to carry out daily work and social activities. Recent years have witnessed a rapid evolution of surgical techniques and technologies aimed at restoring dexterous motor functions akin to those of the human hand through bionic solutions, mainly relying on probing of electrical signals from the residual nerves and muscles. Here, we report the clinical implementation of an interface aimed at achieving this goal by exploiting muscle deformation, sensed through passive magnetic implants: the myokinetic interface. One participant with a transradial amputation received an implantation of six permanent magnets in three muscles of the residual limb. A truly self-contained myokinetic prosthetic arm embedding all hardware components and the battery within the prosthetic socket was developed. By retrieving muscle deformation caused by voluntary contraction through magnet localization, we were able to control in real time a dexterous robotic hand following both a direct control strategy and a pattern recognition approach. In just 6 weeks, the participant successfully completed a series of functional tests, achieving scores similar to those achieved when using myoelectric controllers, a standard-of-care solution, with comparable physical and mental workloads. This experience raised conceptual and technical limits of the interface, which nevertheless pave the way for further investigations in a partially unexplored field. This study also demonstrates a viable possibility for intuitively interfacing humans with robotic technologies.
{"title":"Restoration of grasping in an upper limb amputee using the myokinetic prosthesis with implanted magnets","authors":"Marta Gherardini, Valerio Ianniciello, Federico Masiero, Flavia Paggetti, Daniele D’Accolti, Eliana La Frazia, Olimpia Mani, Stefania Dalise, Katarina Dejanovic, Noemi Fragapane, Luca Maggiani, Edoardo Ipponi, Marco Controzzi, Manuela Nicastro, Carmelo Chisari, Lorenzo Andreani, Christian Cipriani","doi":"10.1126/scirobotics.adp3260","DOIUrl":"10.1126/scirobotics.adp3260","url":null,"abstract":"<div >The loss of a hand disrupts the sophisticated neural pathways between the brain and the hand, severely affecting the level of independence of the patient and the ability to carry out daily work and social activities. Recent years have witnessed a rapid evolution of surgical techniques and technologies aimed at restoring dexterous motor functions akin to those of the human hand through bionic solutions, mainly relying on probing of electrical signals from the residual nerves and muscles. Here, we report the clinical implementation of an interface aimed at achieving this goal by exploiting muscle deformation, sensed through passive magnetic implants: the myokinetic interface. One participant with a transradial amputation received an implantation of six permanent magnets in three muscles of the residual limb. A truly self-contained myokinetic prosthetic arm embedding all hardware components and the battery within the prosthetic socket was developed. By retrieving muscle deformation caused by voluntary contraction through magnet localization, we were able to control in real time a dexterous robotic hand following both a direct control strategy and a pattern recognition approach. In just 6 weeks, the participant successfully completed a series of functional tests, achieving scores similar to those achieved when using myoelectric controllers, a standard-of-care solution, with comparable physical and mental workloads. This experience raised conceptual and technical limits of the interface, which nevertheless pave the way for further investigations in a partially unexplored field. This study also demonstrates a viable possibility for intuitively interfacing humans with robotic technologies.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 94","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.science.org/doi/reader/10.1126/scirobotics.adp3260","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142170430","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-28DOI: 10.1126/scirobotics.adk8019
Anand Kumar Mishra, Jaeseok Kim, Hannah Baghdadi, Bruce R. Johnson, Kathie T. Hodge, Robert F. Shepherd
Living tissues are still far from being used as practical components in biohybrid robots because of limitations in life span, sensitivity to environmental factors, and stringent culture procedures. Here, we introduce fungal mycelia as an easy-to-use and robust living component in biohybrid robots. We constructed two biohybrid robots that use the electrophysiological activity of living mycelia to control their artificial actuators. The mycelia sense their environment and issue action potential–like spiking voltages as control signals to the motors and valves of the robots that we designed and built. The paper highlights two key innovations: first, a vibration- and electromagnetic interference–shielded mycelium electrical interface that allows for stable, long-term electrophysiological bioelectric recordings during untethered, mobile operation; second, a control architecture for robots inspired by neural central pattern generators, incorporating rhythmic patterns of positive and negative spikes from the living mycelia. We used these signals to control a walking soft robot as well as a wheeled hard one. We also demonstrated the use of mycelia to respond to environmental cues by using ultraviolet light stimulation to augment the robots’ gaits.
{"title":"Sensorimotor control of robots mediated by electrophysiological measurements of fungal mycelia","authors":"Anand Kumar Mishra, Jaeseok Kim, Hannah Baghdadi, Bruce R. Johnson, Kathie T. Hodge, Robert F. Shepherd","doi":"10.1126/scirobotics.adk8019","DOIUrl":"10.1126/scirobotics.adk8019","url":null,"abstract":"<div >Living tissues are still far from being used as practical components in biohybrid robots because of limitations in life span, sensitivity to environmental factors, and stringent culture procedures. Here, we introduce fungal mycelia as an easy-to-use and robust living component in biohybrid robots. We constructed two biohybrid robots that use the electrophysiological activity of living mycelia to control their artificial actuators. The mycelia sense their environment and issue action potential–like spiking voltages as control signals to the motors and valves of the robots that we designed and built. The paper highlights two key innovations: first, a vibration- and electromagnetic interference–shielded mycelium electrical interface that allows for stable, long-term electrophysiological bioelectric recordings during untethered, mobile operation; second, a control architecture for robots inspired by neural central pattern generators, incorporating rhythmic patterns of positive and negative spikes from the living mycelia. We used these signals to control a walking soft robot as well as a wheeled hard one. We also demonstrated the use of mycelia to respond to environmental cues by using ultraviolet light stimulation to augment the robots’ gaits.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 93","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142086441","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-28DOI: 10.1126/scirobotics.ads4716
{"title":"Erratum for the Research Article “Field deployment of Wolbachia-infected Aedes aegypti using uncrewed aerial vehicle” by Y.-H. Lin et al.","authors":"","doi":"10.1126/scirobotics.ads4716","DOIUrl":"10.1126/scirobotics.ads4716","url":null,"abstract":"","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 93","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142089912","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-28DOI: 10.1126/scirobotics.ads6194
Melisa Yashinski
Optically actuated soft microrobotic tools were designed for cell transportation, manipulation, and cell-to-cell interactions.
设计了用于细胞运输、操纵和细胞间相互作用的光驱动软微型机器人工具。
{"title":"Collection of microrobots for gentle cell manipulation","authors":"Melisa Yashinski","doi":"10.1126/scirobotics.ads6194","DOIUrl":"10.1126/scirobotics.ads6194","url":null,"abstract":"<div >Optically actuated soft microrobotic tools were designed for cell transportation, manipulation, and cell-to-cell interactions.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 93","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142086438","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-28DOI: 10.1126/scirobotics.adn4722
James Ragan, Benjamin Riviere, Fred Y. Hadaegh, Soon-Jo Chung
Autonomous robots operating in uncertain or hazardous environments subject to state safety constraints must be able to identify and isolate faulty components in a time-optimal manner. When the underlying fault is ambiguous and intertwined with the robot’s state estimation, motion plans that discriminate between simultaneous actuator and sensor faults are necessary. However, the coupled fault mode and physical state uncertainty creates a constrained optimization problem that is challenging to solve with existing methods. We combined belief-space tree search, marginalized filtering, and concentration inequalities in our method, safe fault estimation via active sensing tree search (s-FEAST), a planner that actively diagnoses system faults by selecting actions that give the most informative observations while simultaneously enforcing probabilistic state constraints. We justify this approach with theoretical analysis showing s-FEAST’s convergence to optimal policies. Using our robotic spacecraft simulator, we experimentally validated s-FEAST by safely and successfully performing fault estimation while on a collision course with a model comet. These results were further validated through extensive numerical simulations demonstrating s-FEAST’s performance.
{"title":"Online tree-based planning for active spacecraft fault estimation and collision avoidance","authors":"James Ragan, Benjamin Riviere, Fred Y. Hadaegh, Soon-Jo Chung","doi":"10.1126/scirobotics.adn4722","DOIUrl":"10.1126/scirobotics.adn4722","url":null,"abstract":"<div >Autonomous robots operating in uncertain or hazardous environments subject to state safety constraints must be able to identify and isolate faulty components in a time-optimal manner. When the underlying fault is ambiguous and intertwined with the robot’s state estimation, motion plans that discriminate between simultaneous actuator and sensor faults are necessary. However, the coupled fault mode and physical state uncertainty creates a constrained optimization problem that is challenging to solve with existing methods. We combined belief-space tree search, marginalized filtering, and concentration inequalities in our method, safe fault estimation via active sensing tree search (s-FEAST), a planner that actively diagnoses system faults by selecting actions that give the most informative observations while simultaneously enforcing probabilistic state constraints. We justify this approach with theoretical analysis showing s-FEAST’s convergence to optimal policies. Using our robotic spacecraft simulator, we experimentally validated s-FEAST by safely and successfully performing fault estimation while on a collision course with a model comet. These results were further validated through extensive numerical simulations demonstrating s-FEAST’s performance.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 93","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142086439","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-28DOI: 10.1126/scirobotics.adr9557
Robin R. Murphy
The recent movie Atlas misses fundamental robotics advances in self-stabilization and human-robot interaction.
最近的电影《阿特拉斯》忽略了机器人在自稳定和人机互动方面的基本进步。
{"title":"Real-world exoskeletons are better than those in the movie Atlas","authors":"Robin R. Murphy","doi":"10.1126/scirobotics.adr9557","DOIUrl":"10.1126/scirobotics.adr9557","url":null,"abstract":"<div >The recent movie <i>Atlas</i> misses fundamental robotics advances in self-stabilization and human-robot interaction.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 93","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142086440","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-21DOI: 10.1126/scirobotics.adn4008
Maged Iskandar, Alin Albu-Schäffer, Alexander Dietrich
The sense of touch is a property that allows humans to interact delicately with their physical environment. This article reports on a technological advancement in intuitive human-robot interaction that enables an intrinsic robotic sense of touch without the use of artificial skin or tactile instrumentation. On the basis of high-resolution joint-force-torque sensing in a redundant arrangement, we were able to let the robot sensitively feel the surrounding environment and accurately localize touch trajectories in space and time that were applied on its surface by a human. Through an intertwined combination of manifold learning techniques and artificial neural networks, the robot identified and interpreted those touch trajectories as machine-readable letters, symbols, or numbers. This opens up unexplored opportunities in terms of intuitive and flexible interaction between human and robot. Furthermore, we showed that our concept of so-called virtual buttons can be used to straightforwardly implement a tactile communication link, including switches and slider bars, which are complementary to speech, hardware buttons, and control panels. These interaction elements could be freely placed, moved, and configured in arbitrary locations on the robot structure. The intrinsic sense of touch we proposed in this work can serve as the basis for an advanced category of physical human-robot interaction that has not been possible yet, enabling a shift from conventional modalities toward adaptability, flexibility, and intuitive handling.
{"title":"Intrinsic sense of touch for intuitive physical human-robot interaction","authors":"Maged Iskandar, Alin Albu-Schäffer, Alexander Dietrich","doi":"10.1126/scirobotics.adn4008","DOIUrl":"10.1126/scirobotics.adn4008","url":null,"abstract":"<div >The sense of touch is a property that allows humans to interact delicately with their physical environment. This article reports on a technological advancement in intuitive human-robot interaction that enables an intrinsic robotic sense of touch without the use of artificial skin or tactile instrumentation. On the basis of high-resolution joint-force-torque sensing in a redundant arrangement, we were able to let the robot sensitively feel the surrounding environment and accurately localize touch trajectories in space and time that were applied on its surface by a human. Through an intertwined combination of manifold learning techniques and artificial neural networks, the robot identified and interpreted those touch trajectories as machine-readable letters, symbols, or numbers. This opens up unexplored opportunities in terms of intuitive and flexible interaction between human and robot. Furthermore, we showed that our concept of so-called virtual buttons can be used to straightforwardly implement a tactile communication link, including switches and slider bars, which are complementary to speech, hardware buttons, and control panels. These interaction elements could be freely placed, moved, and configured in arbitrary locations on the robot structure. The intrinsic sense of touch we proposed in this work can serve as the basis for an advanced category of physical human-robot interaction that has not been possible yet, enabling a shift from conventional modalities toward adaptability, flexibility, and intuitive handling.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 93","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142019751","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-08-21DOI: 10.1126/scirobotics.ads4122
Amos Matsiko
A neuroprosthesis could decode two languages from the brain activity of a bilingual participant who was unable to articulate speech.
一个神经假体可以从一名无法发音的双语参与者的大脑活动中解码出两种语言。
{"title":"Bilingual speech neuroprosthesis","authors":"Amos Matsiko","doi":"10.1126/scirobotics.ads4122","DOIUrl":"10.1126/scirobotics.ads4122","url":null,"abstract":"<div >A neuroprosthesis could decode two languages from the brain activity of a bilingual participant who was unable to articulate speech.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 93","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142019750","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In contrast with jumping robots made from rigid materials, soft jumpers composed of compliant and elastically deformable materials exhibit superior impact resistance and mechanically robust functionality. However, recent efforts to create stimuli-responsive jumpers from soft materials were limited in their response speed, takeoff velocity, and travel distance. Here, we report a magnetic-driven, ultrafast bistable soft jumper that exhibits good jumping capability (jumping more than 108 body heights with a takeoff velocity of more than 2 meters per second) and fast response time (less than 15 milliseconds) compared with previous soft jumping robots. The snap-through transitions between bistable states form a repeatable loop that harnesses the ultrafast release of stored elastic energy. On the basis of the dynamic analysis, the multimodal locomotion of the bistable soft jumper can be realized: the interwell mode of jumping and the intrawell mode of hopping. These modes are controlled by adjusting the duration and strength of the magnetic field, which endows the bistable soft jumper with robust locomotion capabilities. In addition, it is capable of jumping omnidirectionally with tunable heights and distances. To demonstrate its capability in complex environments, a realistic pipeline with amphibious terrain was established. The jumper successfully finished a simulative task of cleansing water through a pipeline. The design principle and actuating mechanism of the bistable soft jumper can be further extended for other flexible systems.
{"title":"Bistable soft jumper capable of fast response and high takeoff velocity","authors":"Daofan Tang, Chengqian Zhang, Chengfeng Pan, Hao Hu, Haonan Sun, Huangzhe Dai, Jianzhong Fu, Carmel Majidi, Peng Zhao","doi":"10.1126/scirobotics.adm8484","DOIUrl":"10.1126/scirobotics.adm8484","url":null,"abstract":"<div >In contrast with jumping robots made from rigid materials, soft jumpers composed of compliant and elastically deformable materials exhibit superior impact resistance and mechanically robust functionality. However, recent efforts to create stimuli-responsive jumpers from soft materials were limited in their response speed, takeoff velocity, and travel distance. Here, we report a magnetic-driven, ultrafast bistable soft jumper that exhibits good jumping capability (jumping more than 108 body heights with a takeoff velocity of more than 2 meters per second) and fast response time (less than 15 milliseconds) compared with previous soft jumping robots. The snap-through transitions between bistable states form a repeatable loop that harnesses the ultrafast release of stored elastic energy. On the basis of the dynamic analysis, the multimodal locomotion of the bistable soft jumper can be realized: the interwell mode of jumping and the intrawell mode of hopping. These modes are controlled by adjusting the duration and strength of the magnetic field, which endows the bistable soft jumper with robust locomotion capabilities. In addition, it is capable of jumping omnidirectionally with tunable heights and distances. To demonstrate its capability in complex environments, a realistic pipeline with amphibious terrain was established. The jumper successfully finished a simulative task of cleansing water through a pipeline. The design principle and actuating mechanism of the bistable soft jumper can be further extended for other flexible systems.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 93","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142020124","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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