Journal of Bionic Engineering最新文献

The stiffness information of the grasped object at the initial contact stage can be effectively used to adjust the grasping force of the prosthetic hand, thereby preventing damage to the object. However, the object’s deformation and contact force are often minimal during the initial stage and not easily obtained directly. Additionally, stiffness estimation methods for prosthetic hands often require contact sensors, which can easily lead to poor contact issues. To address the above issues, this paper proposes the model-based stiffness estimation of grasped objects for underactuated prosthetic hands without force sensors. First, the kinematic model is linearized at the contact points to achieve the estimation of the linkage angles in the underactuated prosthetic hand. Secondly, the motor parameters are estimated using the Kalman filter method, and the grasping force is obtained from the dynamic model of the underactuated prosthetic hand. Finally, the contact model of the prosthetic hand grasping an object is established, and an online stiffness estimation method based on the contact model for the grasped object is proposed using the iterative reweighted least squares method. Experimental results show that this method can estimate the stiffness of grasped objects within 250 ms without contact sensors.

To reduce structural modifications and minimize the impact on legged locomotion, this paper presents SlidBot, a quadruped robot with roller-skating capability, designed to improve movement efficiency on sloped surfaces. Two passive wheels without braking mechanisms are installed on the knee joint and lower leg of the robot. During quadruped movement, these wheels remain off the ground and therefore do not interfere with locomotion. The brakeless design reduces the number of components and simplifies the mechanical structure. When roller skating motion is required, simply adjust the leg posture to make the passive wheel on the lower leg contact the ground. The roller skating mode of the robot can be divided into two-legged roller skating and four-legged roller skating. During two-legged roller skating, the passive wheels of the hind legs support the ground, and the front legs execute backward propulsion to provide power for the robot’s movement. In four-legged roller skating, both the front and hind legs’ passive wheels contact the ground, resulting in a large supporting area and a low center of gravity, which helps maintain stability during high-speed movement and facilitates passage through low-lying environments. This paper outlines the robot design method, establishes a kinematic model, plans the gait and mode-switching method. Simulation and physical results indicate that the robot can perform stable diagonal trotting and roller skating movements. Moreover, on flat terrain, the roller skating motion is more energy-efficient than diagonal trotting, and on slopes, its energy and motion efficiency significantly surpasses that of the diagonal trot. This research offers novel insights for quadruped robot design and can considerably enhance the movement efficiency of quadruped robots on sloped terrains.

This review article presents a comprehensive overview of emerging technologies in bone tissue engineering (BTE). This rapidly advancing field addresses the challenges of bone defects and injuries beyond traditional treatments like autografts and allografts. The study highlights the integration of 3D bioprinting, stem cell therapy, gene therapy, biomaterials, nanotechnology, and computational modeling as transformative approaches in BTE. Developing biomimetic scaffolds, advanced bio-inks, and composite nanomaterials has enhanced scaffold design, improving mechanical properties and biocompatibility. Innovations in gene therapy and bioactive molecule delivery are showcased for their ability to modulate cellular behavior and enhance osteogenesis. Stem cell-based therapies leverage the regenerative potential of mesenchymal stem cells, facilitating tissue integration and functional restoration. Computational tools, including finite element analysis (FEA) and agent-based modelling, aid in the optimization of scaffold design, predicting mechanical responses and biological behaviors. Despite notable progress, significant challenges, such as achieving reliable vascularization, scalable manufacturing of engineered constructs, and effective clinical translation, remain substantial barriers to widespread adoption. Future research efforts focused on refining these technologies are vital for translating innovative strategies into clinical practice, paving the way for personalized regenerative solutions in bone repair.

This study examines the locomotor biomechanics of the giant panda (Ailuropoda melanoleuca), a species of profound ecological and evolutionary significance. Despite its characteristic slow movement and non-sprinting locomotion, the panda has endured for over 8 million years, offering a unique perspective on the evolution of mammalian locomotion. Through comprehensive gait analysis and ground reaction force measurements, we investigate the functional distinctions between the forelimbs and hind limbs, highlighting the biomechanical underpinnings of its plantigrade locomotion. Our findings reveal how the panda’s limb structure and movement patterns contribute to energy efficiency, particularly during slow locomotion. By comparing these results with those of other large mammals, such as grizzly bears (Ursus arcto), we explore the role of limb mechanics in energy conservation. Additionally, we assess the locomotor performance of pandas across different age groups, shedding light on the maturation of locomotor abilities and the potential adaptive significance of their slow, deliberate movement. This research offers novel insights into the biomechanics of panda locomotion and its evolutionary implications, furthering our understanding of the functional evolution of bear species and informing conservation strategies for this iconic species.

This paper presents a template-based control method for achieving diverse trotting motions in quadrupedal systems, with a focus on smooth transitions between walking trot, regular trot, and flying (running) trot. First, we extend the Clock Torque Actuated Spring-Loaded Inverted Pendulum (CT-SLIP) template to three dimensions, creating a comprehensive control framework. A template-based control strategy is then developed to compute joint torques for stable locomotion, along with a detailed approach for transitioning between gaits. To enable the flight phase in the running trot, a projectile motion model is incorporated into the template. For improved turning, we implement a yaw control method that rotates the swing foot plane to enhance stability, enabling higher turning rates while maintaining steady forward motion and balance. To further enhance locomotion stability and performance, a Whole-Body Controller (WBC) is integrated. The proposed method is implemented and rigorously evaluated in the MuJoCo simulator, with experiments testing gait transitions and disturbance rejection. Additionally, comparative studies assess the impacts of both swing foot plane rotation and the WBC on overall system performance. Furthermore, the approach is validated through real hardware experiments on Unitree GO1 quadrupedal robot, successfully demonstrating smooth gait transitions, stable locomotion, and practical applicability in real-world scenarios.

This paper presents a novel rehabilitation robot designed to address the challenges of Passive Range of Motion (PROM) exercises for frozen shoulder patients by integrating advanced scapulohumeral rhythm stabilization. Frozen shoulder is characterized by limited glenohumeral motion and disrupted scapulohumeral rhythm, with therapist-assisted interventions being highly effective for restoring normal shoulder function. While existing robotic solutions replicate natural shoulder biomechanics, they lack the ability to stabilize compensatory movements, such as shoulder shrugging, which are critical for effective rehabilitation. Our proposed device features a 6 Degrees of Freedom (DoF) mechanism, including 5 DoF for shoulder motion and an innovative 1 DoF Joint press for scapular stabilization. The robot employs a personalized two-phase operation: recording normal shoulder movement patterns from the unaffected side and applying them to guide the affected side. Experimental results demonstrated the robot’s ability to replicate recorded motion patterns with high precision, with Root Mean Square Error (RMSE) values consistently below 1 degree. In simulated frozen shoulder conditions, the robot effectively suppressed scapular elevation, delaying the onset of compensatory movements and guiding the affected shoulder to move more closely in alignment with normal shoulder motion, particularly during arm elevation movements such as abduction and flexion. These findings confirm the robot’s potential as a rehabilitation tool capable of automating PROM exercises while correcting compensatory movements. The system provides a foundation for advanced, personalized rehabilitation for patients with frozen shoulders.

In clinical work, many soft medical pipelines are located deep within the body, resulting in a lack of feedback regarding bending or folding conditions, which presents significant challenges for medical staff. To solve the problem, this study innovatively designs a flexible bending sensor, which can be attached to the medical pipelines and monitor the bending conditions. Based on a flexible substrate with secondary microstructures copied from champagne rose petals, the interdigital electrodes are designed to enhance the sensitivity of the sensor due to the amplifying effect. A high sensitivity of 2.209%⁻¹in a bending strain range of 8.9%, and a stable repeatability for over 6000 cycles under 1.8% bending strain are achieved by the sensor. By integrating the bending sensor, here, the nasogastric tube, femoral vein catheter, and tracheal intubation are used to demonstrate the sensing performance. Additionally, during the measurement, the sensing signals are processed and transformed to the bending angles simultaneously, enabling the direct visualization of the bending conditions of the pipelines. This work proposes innovative applications for bending sensors in medical technology and establishes a foundation for further research on flexible bending sensors.

Formation control remains a critical challenge in cooperative multi-agent systems, particularly for Unmanned Underwater Vehicles (UUVs). Conventional approaches often suffer from several limitations, including reliance on global information, limited adaptability, high computational complexity, and poor scalability. To address these issues, we propose a novel bio-inspired formation control method for UUV swarms, drawing inspiration from the self-organizing behavior of fish schools. Our method integrates three key components: (1) a coordinated motion strategy without predefined targets that enables individual UUVs to align their movements via simple left or right rotations based solely on local neighbor interactions; (2) a target-directed movement strategy that guides UUVs toward specified regions; and (3) a dispersion control strategy that prevents overcrowding by regulating local spatial distributions. Simulation results confirm that the method achieves robust formation control and efficient area coverage using only local perception. Validation in a 9-UUV simulation environment demonstrates the approach’s flexibility, decentralization, and computational efficiency, making it particularly suitable for large-scale swarms with limited sensing and processing capabilities.

Tree knots are generally considered defects in wood, but how the surrounding structures of the defects affects strength of wood has not been studied. Here the mechanical properties of static compression and hole bearing tests were designed for encased knots and intergrown knots, and the strengthening mechanism of streamline tissue and connecting interface was analyzed by finite element modeling. And the two reinforced structures were applied to composite structural holes and connecting holes, which significantly improved open hole compressive strength and hole bearing strength. And the finite element models for two kinds of composite hole were created to analyze how the stress field around the reinforced structure strengthens the composite. Both the experimental results and the finite analysis results show that the streamline structure could effectively improve the compressive properties of composite structural holes, and the connecting interface provided a stable constraint for giving full play to the hole bearing properties of stronger materials. These two structures will provide reference for the structural design of lightweight composites.

Surface morphology of Ceratocanthus beetle elytra was investigated for spike surface texture and its geometry using Scanning Electron Microscopy (SEM). Material properties were analyzed for both surface and cross-section of elytra using nano-indentation technique. The spike texture was significantly rigid compared with the non-textured zone; a bi-layer system of E and H was identified at the elytra cross-section. Normal load acting on spike texture during free-fall conditions was estimated analytically and deflection equation was derived. The design of spike texture with conical base was studied for minimization of deflection and volume using the Non-dominated Sorting Genetic Algorithm (NSGA-II) optimization technique, confirming the smart design of the natural solution. The frictional behavior of elytra was studied using fundamental tribology test and the role of the oriented spike texture was investigated for frictional anisotropy. Compression resistance of full beetle was evaluated for both conglobated and non-conglobated configuration and tensile strengths were compared using Brazilian test. Puncture and wear resistance of full elytra were characterized and correlated with its defense mechanism.