Pub Date : 2024-09-18DOI: 10.1126/scirobotics.adt0930
Melisa Yashinski
A socially assistive robot can administer in-home neuropsychological tests for cognitive monitoring of older adults.
社交辅助机器人可在家中进行神经心理学测试，以监测老年人的认知能力。
{"title":"Social robot for at-home cognitive monitoring","authors":"Melisa Yashinski","doi":"10.1126/scirobotics.adt0930","DOIUrl":"10.1126/scirobotics.adt0930","url":null,"abstract":"<div >A socially assistive robot can administer in-home neuropsychological tests for cognitive monitoring of older adults.</div>","PeriodicalId":56029,"journal":{"name":"Science Robotics","volume":"9 94","pages":""},"PeriodicalIF":26.1,"publicationDate":"2024-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142245157","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 : 2024-09-11DOI: 10.1126/scirobotics.adn6844
Stephanie J. Woodman, Dylan S. Shah, Melanie Landesberg, Anjali Agrawala, Rebecca Kramer-Bottiglio
To achieve real-world functionality, robots must have the ability to carry out decision-making computations. However, soft robots stretch and therefore need a solution other than rigid computers. Examples of embedding computing capacity into soft robots currently include appending rigid printed circuit boards to the robot, integrating soft logic gates, and exploiting material responses for material-embedded computation. Although promising, these approaches introduce limitations such as rigidity, tethers, or low logic gate density. The field of stretchable electronics has sought to solve these challenges, but a complete pipeline for direct integration of single-board computers, microcontrollers, and other complex circuitry into soft robots has remained elusive. We present a generalized method to translate any complex two-layer circuit into a soft, stretchable form. This enabled the creation of stretchable single-board microcontrollers (including Arduinos) and other commercial circuits (including SparkFun circuits), without design simplifications. As demonstrations of the method’s utility, we embedded highly stretchable (>300% strain) Arduino Pro Minis into the bodies of multiple soft robots. This makes use of otherwise inert structural material, fulfilling the promise of the stretchable electronic field to integrate state-of-the-art computational power into robust, stretchable systems during active use.
为了实现真实世界的功能，机器人必须具备进行决策计算的能力。然而，软体机器人具有伸缩性，因此需要刚性计算机以外的解决方案。目前，将计算能力嵌入软体机器人的例子包括在机器人上附加刚性印刷电路板、集成软逻辑门，以及利用材料反应进行材料嵌入式计算。这些方法虽然前景广阔，但也存在一些限制，如刚性、系绳或逻辑门密度低。可拉伸电子学领域一直在努力解决这些难题，但将单板计算机、微控制器和其他复杂电路直接集成到软体机器人中的完整流水线却一直未能实现。我们提出了一种通用方法，可将任何复杂的双层电路转化为柔软、可拉伸的形式。这样就能在不简化设计的情况下，制作出可拉伸的单板微控制器（包括 Arduinos）和其他商用电路（包括 SparkFun 电路）。为了证明这种方法的实用性，我们将高度可拉伸（300% 应变）的 Arduino Pro Minis 嵌入到多个软体机器人的身体中。这就利用了原本惰性的结构材料，实现了可拉伸电子领域的承诺，即在主动使用过程中将最先进的计算能力集成到坚固耐用的可拉伸系统中。
{"title":"Stretchable Arduinos embedded in soft robots","authors":"Stephanie J. Woodman, Dylan S. Shah, Melanie Landesberg, Anjali Agrawala, Rebecca Kramer-Bottiglio","doi":"10.1126/scirobotics.adn6844","DOIUrl":"10.1126/scirobotics.adn6844","url":null,"abstract":"<div >To achieve real-world functionality, robots must have the ability to carry out decision-making computations. However, soft robots stretch and therefore need a solution other than rigid computers. Examples of embedding computing capacity into soft robots currently include appending rigid printed circuit boards to the robot, integrating soft logic gates, and exploiting material responses for material-embedded computation. Although promising, these approaches introduce limitations such as rigidity, tethers, or low logic gate density. The field of stretchable electronics has sought to solve these challenges, but a complete pipeline for direct integration of single-board computers, microcontrollers, and other complex circuitry into soft robots has remained elusive. We present a generalized method to translate any complex two-layer circuit into a soft, stretchable form. This enabled the creation of stretchable single-board microcontrollers (including Arduinos) and other commercial circuits (including SparkFun circuits), without design simplifications. As demonstrations of the method’s utility, we embedded highly stretchable (>300% strain) Arduino Pro Minis into the bodies of multiple soft robots. This makes use of otherwise inert structural material, fulfilling the promise of the stretchable electronic field to integrate state-of-the-art computational power into robust, stretchable systems during active use.</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":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142170411","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 : 2024-09-11DOI: 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}
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