While engineers put lots of effort,resources,and time in building insect scale micro aerial vehicles(MAVs)that fly like insects,insects themselves are the real masters of flight.What if we would use living insect as p...While engineers put lots of effort,resources,and time in building insect scale micro aerial vehicles(MAVs)that fly like insects,insects themselves are the real masters of flight.What if we would use living insect as platform for MAV instead?Here,we reported a flight control via electrical stimulation of a flight musde of an insect-computer hybrid robot,which is the interface of a mountable wireless backpack controller and a living beetle.The beetle uses indirect flight muscles to drive wing flapping and three major direct flight muscles(basalar,subalar,and third axilliary(3Ax)muscles)to control the kinematics of the wings for flight maneuver.While turning control was already achieved by stimulating basalar and 3Ax muscles,electrical stimu lation of subalar musdes resulted in braking and elevation control in flight.We also demonstrated around 20 degrees of contralateral yaw and roll by stimulating individual subalar muscle.Stimulating both subalar muscles lead to an increase of 20 degrees in pitch and decelerate the flight by 1.5 m/s2 as well as an induce in elevation of 2m/s.展开更多
Graphdiyne(GDY)is a new member of the family of carbon based nanomaterials with hybridized carbon atoms of sp and sp',including a,β,γ,and(6,6,12)-GDY,which difer in their percentage of acetylene bonds.The unique...Graphdiyne(GDY)is a new member of the family of carbon based nanomaterials with hybridized carbon atoms of sp and sp',including a,β,γ,and(6,6,12)-GDY,which difer in their percentage of acetylene bonds.The unique structure of GDY provides many attractive features,such as uniformly distributed pores,highlyπconjugated structure,high thermal stability,low toxicity,biod egradabilty,large specific surface area,tunable electrical conductivity,and remarkable thermal conductivity.Therefore,GDY is widely used in energy storage,catalysis,and energy fields,in addition to biomedical fields,such as biosensing,cancer therapy,drug delivery,radiation protection,and tissue engineering.In this review,we first discuss the synthesis of GDY with different shapes,including nanotubes,nanowires,nanowalls,and nanosheets.Second,we present the research progress in the biomedical field in recent years,along with the biodegradability and biocompatibility of GDY based on the existing literature.Subsequently,we present recent research results on the use of nanomaterials in peripheral nerve regeneration(PNR).Based on the wide application of nanomaterials in PNR and the remarkable properties of GDY,we.predict the prospects and current challenges of GDY-based materials for PNR.展开更多
In this paper,the hydrodynamic modeling and parameter identifcation of the RobDact,a bionic underwater vehide inspired byDactylopteridae,are carried out based on computational fluid dynamics(CFD)and force measurement ...In this paper,the hydrodynamic modeling and parameter identifcation of the RobDact,a bionic underwater vehide inspired byDactylopteridae,are carried out based on computational fluid dynamics(CFD)and force measurement experiment.Firstly,thePaper briely describes the RobDact,then establishes the kinematis model and rigid body dynamics model of the RobDactaccording to the hydrodynamic force and moment equations.Through CFD simulations,the hydrodynamic force of theRobDact at diferent speeds is obtained,and then,the hydrodynamic model parameters are identified.Furthermore,themeasurement platform is developed to obtain the relationship between the thrust generated by the RobDact and the inputfluctuation parameters,Finally,combining the rigid body dynamics model and the fin'thrust mapping model,thehydrodynamic model of the RobDact at diferent motion states is constructed.展开更多
In vitro three-dimensional(3D)cellular models with native tissue-like architectures and functions have potential as alternatives to human tissues in regenerative medicine and drug discovery.However,it is difficult to ...In vitro three-dimensional(3D)cellular models with native tissue-like architectures and functions have potential as alternatives to human tissues in regenerative medicine and drug discovery.However,it is difficult to replicate liver constructs that mimic in vivo microenvironments using current approaches in tissue engineering because of the vessel-embedded 3D structure and complex cell distribution of the liver.This paper reports a pulsed microflow-based on-chip 3D assembly method to construct 3D liver lobule-like models that replicate the spatial structure and functions of the liver lobule.The heterogeneous cell-laden assembly units with hierarchical cell distribution are fabricated through multistep photopatterning of different cell-laden hydrogels.Through fluid force interaction by pulsed microflow,the hierarchical assembly units are driven to a stack,layer by layer,and thus spatially assemble into 3D cellular models in the closed liquid chamber of the assembly chip.The 3D models with liver lobule-like hexagonal morphology and radial cell distribution allow the dynamic perfusion culture to maintain high cell viability and functional expression during long-term culture in vitro.These results demonstrate that the fabricated 3D liver lobule-like models are promising for drug testing and the study of individual diagnoses and treatments.展开更多
Low-labor production of tissue-engineered muscles(TEMs)is one of the key technologies to realize the practical use of muscleactuated devices.This study developed and then demonstrated the daily maintenance-free cultur...Low-labor production of tissue-engineered muscles(TEMs)is one of the key technologies to realize the practical use of muscleactuated devices.This study developed and then demonstrated the daily maintenance-free culture system equipped with both electrical stimulation and medium replacement functions.To avoid ethical issues,immortal myoblast cells C2C12 were used.The system consisting of gel culture molds,a medium replacement unit,and an electrical stimulation unit could produce 12 TEMs at one time.The contractile forces of the TEMs were measured with a newly developed microforce measurement system.Even the TEMs cultured without electrical stimulation generated forces of almost 2mN and were shortened by 10%in tetanic contractions.Regarding the contractile forces,electrical stimulation by a single pulse at 1 Hz was most effective,and the contractile forces in tetanus were over 2.5 mN.On the other hand,continuous pulses decreased the contractile forces of TEMs.HE-stained cross-sections showed that myoblast cells proliferated and fused into myotubes mainly in the peripheral regions,and fewer cells existed in the internal region.This must be due to insufficient supplies of oxygen and nutrients inside the TEMs.By increasing the supplies,one TEM might be able to generate a force up to around 10 mN.The tetanic forces of the TEMs produced by the system were strong enough to actuate microstructures like previously reported crawling robots.This daily maintenance-free culture system which could stably produce TEMs strong enough to be utilized for microrobots should contribute to the advancement of biohybrid devices.展开更多
The rapid development of medical micromotors draws a beautiful blueprint for the noninvasive or minimally invasive diagnosis and therapy.By combining stimuli-sensitive hydrogel materials,micromotors are bestowed with ...The rapid development of medical micromotors draws a beautiful blueprint for the noninvasive or minimally invasive diagnosis and therapy.By combining stimuli-sensitive hydrogel materials,micromotors are bestowed with new characteristics such as stimuli-responsive shape transformation/morphing.excellent biocompatibility and biodegradability,and drug loading ability.Actuated by chemical fuels or external fields(eg,magnetic field,ultrasound,light,and electric field),hydrogel-based stimuli-responsive(HBSR)micromotors can be utilized to load therapeutic agents into the hydrogel networks or directly grip the target cargos(eg.,drug-loaded partides,cells,and thrombus),transport them to sites of interest(e.g.,tumor area and diseased tissues),and unload the cargos or execute a specific task(e.g.,cell capture,targeted sampling,and removal of blood dots)in response to a stimulus(eg.,change of temperature,pH,ion strength,and chemicals)in the physiological environment.The high flexibility,adaptive capacity,and shape morphing property enable the H BSR micromotors to complete specific medical tasks in complex physiological scenarios,especially in confined,hard to-reach tissues,and vessels of the body.Herein,this review summarizes the current progress in hydrogel-based medical micromotors with stimuli responsiveness.The thermo-responsive,photothermal-responsive,magnetocaloric-responsive,pH-responsive,ionic strength-responsive,and chemoresponsive micromotors are discussed in detail.Finally,curent challenges and future perspectives for the development of HBSR micromotors in the biomedical field are discussed.展开更多
Since conventional human cardiac two-dimensional(2D)cell culture and multilayered three-dimensional(3D)models fail in recapitulating cellular complexity and possess inferior translational capacity,we designed and deve...Since conventional human cardiac two-dimensional(2D)cell culture and multilayered three-dimensional(3D)models fail in recapitulating cellular complexity and possess inferior translational capacity,we designed and developed a high-throughput scalable 3D bioprinted cardiac spheroidal droplet-organoid model with cardiomyocytes and cardiac fibroblasts that can be used for drug screening or regenerative engineering applications.This study helped establish the parameters for bioprinting and cross-linking a gelatin-alginate-based bioink into 3D spheroidal droplets.A flattened disk-like structure developed in prior studies from our laboratory was used as a control.The microstructural and mechanical stability of the 3D spheroidal droplets was assessed and was found to be ideal for a cardiac scaffold.Adult human cardiac fibroblasts and AC16 cardiomyocytes were mixed in the bioink and bioprinted.Live-dead assay and flow cytometry analysis revealed robust biocompatibility of the 3D spheroidal droplets that supported the growth and proliferation of the cardiac cells in the long-term cultures.Moreover,the heterocellular gap junctional coupling between the cardiomyocytes and cardiac fibroblasts further validated the 3D cardiac spheroidal droplet model.展开更多
The COVID-19 pandemic has accelerated methods to faciltate contactless evaluation of patients in hospital sttings.By minimizing in-person contact with individuals who may have COVID 19,healthcare workers can prevent d...The COVID-19 pandemic has accelerated methods to faciltate contactless evaluation of patients in hospital sttings.By minimizing in-person contact with individuals who may have COVID 19,healthcare workers can prevent disease transmission and conserve personal protective equipment.Obtaining vital signs is a ubiquitous task that is commonly done in person by healthcare workers.To eliminate the need for in-person contact for vital sign measurement in the hospital setting,we developed Dr.Spot,a mobile quadruped robotic system.The system includes IR and RGB cameras for vital sign monitoring and a tablet computer for face-to-face medical interviewing.Dr.Spot is teleoperated by trained clinical staff to simultaneously measure the skin temperature,respiratory rate,and heart rate while maintaining social distancing from patients and without removing their mask.To enable accurate,contactless measurements on a mobile system without a static black body as reference,we propose novel methods for skin temperature compensation and respiratory rate measurement at various distances between the subject and the cameras,up to 5 m.Without compensation,the skin temperature MAE is 13℃.Using the proposed compensation method,the skin temperature MAE is reduced to 0.3℃.The respiratory rate method can provide continuous monitoring with a MAE of 1.6 BPM in 30s or rapid screening with a MAE of 2.1 BPM in 10s.For the heart rate estimation,our system is able to achieve a MAE less than 8 BPM in 10s measured in arbitrary indoor light conditions at any distance below 2 m.展开更多
Cell segmentation and counting play a very important role in the medical field.The diagnosis of many diseases relies heavily on the kind and number of cells in the blood.convolution neural network achieves encouraging...Cell segmentation and counting play a very important role in the medical field.The diagnosis of many diseases relies heavily on the kind and number of cells in the blood.convolution neural network achieves encouraging results on image segmentation.However,this data-driven method requires a large number of annotations and can be a time-consuming and expensive process,prone to human error.In this paper,we present a novel frame to segment and count cells without too many manually annotated cell images.Before training.we generated the cell image labels on single-kind cell images using traditional algorithms.These images were then used to form the train set with the label.Different train sets composed of different kinds of cell images are presented to the segmentation model to update its parameters.Finally,the pretrained U-Net model is transferred to segment the mixed cell images using a small dataset of manually labeled mixed cell images.To better evaluate the efectiveness of the proposed method,we design and train a new automatic cell segmentation and count framework.The test results and analyses show that the segmentation and count performance of the framework trained by the proposed method equal the model trained by large amounts of annotated mixed cell images.展开更多
The importance of actuators that can be integrated with flexible robot structures and mechanisms has increased in recent years with the advance of soft robotics.In particular,electrohydrodynamic(EHD)actuators,which ha...The importance of actuators that can be integrated with flexible robot structures and mechanisms has increased in recent years with the advance of soft robotics.In particular,electrohydrodynamic(EHD)actuators,which have expandable integrability to adapt to the flexible motion of soft robots,have received much attention in the field of soft robotics.Studies have deepened the understanding of steady states of EHD phenomena but nonsteady states are not well understood.We herein observe the development process of fluid in a microchannel adopting a Schlieren technique with the aid of a high-speed camera.In addition,we analyze the behavior of fluid flow in a microchannel that is designed to have pairs of parallel plate electrodes adopting a computational fluid dynamics technique.Results indicate the importance of considering flow generated by electrostatic energy,which tends to be ignored in constructing and evaluating EHD devices,and by the body force generated by the ion-drag force.By considering these effects,we estimate the development process of EHD flow and confirm the importance of considering the generation of vortices and their interactions inside the microchannel during the development of EHD devices.展开更多
In the past few years,we have gained a better understanding of the information processing mechanism in the human brain,which has led to advances in artificial intelligence and humanoid robots.However,among the various...In the past few years,we have gained a better understanding of the information processing mechanism in the human brain,which has led to advances in artificial intelligence and humanoid robots.However,among the various sensory systems,studying the somatosensory system presents the greatest challenge.Here,we provide a comprehensive review of the human somatosensory system and its corresponding applications in artificial systems.Due to the uniqueness of the human hand in integrating receptor and actuator functions,we focused on the role of the somatosensory system in object recognition and action guidance.First,the low-threshold mechanoreceptors in the human skin and somatotopic organization principles along the ascending pathway,which are fundamental to artificial skin,were summarized.Second,we discuss high-level brain areas,which interacted with each other in the haptic object recognition.Based on this close-loop route,we used prosthetic upper limbs as an example to highlight the importance of somatosensory information.Finally,we present prospective research directions for human haptic perception,which could guide the development of artificial somatosensory systems.展开更多
DNA nanotechnology takes DNA molecule out of its biological context to build nanostructures that have entered the realm of robots and thus added a dimension to cyborg and bionic systems.Spurred by spring-like properti...DNA nanotechnology takes DNA molecule out of its biological context to build nanostructures that have entered the realm of robots and thus added a dimension to cyborg and bionic systems.Spurred by spring-like properties of DNA molecule,the assembled nanorobots can be tuned to enable restricted,mechanical motion by deliberate design.DNA nanorobots can be programmed with a combination of several unique features,such as tissue penetration,site-targeting,stimuli responsiveness,and cargo-loading,which makes them ideal candidates as biomedical robots for precision medicine.Even though DNA nanorobots are capable of detecting target molecule and determining cell fate via a variety of DNA-based interactions both in vitro and in vivo,major obstacles remain on the path to real-world applications of DNA nanorobots.Control over nanorobot’s stability,cargo loading and release,analyte binding,and dynamic switching both independently and simultaneously represents the most eminent challenge that biomedical DNA nanorobots currently face.Meanwhile,scaling up DNA nanorobots with low-cost under CMC and GMP standards represents other pertinent challenges regarding the clinical translation.Nevertheless,DNA nanorobots will undoubtedly be a powerful toolbox to improve human health once those remained challenges are addressed by using a scalable and cost-efficient method.展开更多
Cyborg and Bionic Systems provides a much-needed forum for presenting research outcomes and insights in various fields concerning living-robotics hybrid systems.The research efforts within these fields are aimed at un...Cyborg and Bionic Systems provides a much-needed forum for presenting research outcomes and insights in various fields concerning living-robotics hybrid systems.The research efforts within these fields are aimed at understanding,mimicking,and recapitulating natural principles and mechanisms of life,which have inspired numerous inventions and propelled technology advancements throughout history.From cardiac pacemakers to artificial cochlea,a range of biomedical applications of cyborg and bionic system technologies has benefited humans.Artificial organs,exoskeletons with neural interfacing,and brain-machine interfaces(BMIs)for neurological recovery have been applied to replace or repair lost functions.An example of inspiring achievements and the potential of cyborg and bionic system technologies to restore human capabilities is CYBATHLON,a championship for physically challenged people using assistive technologies which began in 2016.These technologies are closely coupled with the“embodiment”issues which are essentially concerned with the psychological and sensing aspects of prosthetic arms and legs and even extra artificial limbs to augment our body for carrying out various tasks,a concept championed by a pioneering team led by Professor Harry Asada at MIT through a technology aptly named Supernumerary Robotic Limbs(SRL).展开更多
1.Introduction Since a long time,measuring the psychological status of sub-jects in a quantitative paradigm is a challenging problem inthe scientific community.It is known that there is not adirect way to measure the_...1.Introduction Since a long time,measuring the psychological status of sub-jects in a quantitative paradigm is a challenging problem inthe scientific community.It is known that there is not adirect way to measure the_psychological quantities^([1]),whereas an emerging methodology,ie,computational psy.chophysiology(CPP),was introduced^([2]).展开更多
Swimming micro-nanorobots have attracted researchers’interest in potential medical applications on target therapy,biosensor,drug carrier,and others.At present,the experimental setting of the swimming micro-nanorobots...Swimming micro-nanorobots have attracted researchers’interest in potential medical applications on target therapy,biosensor,drug carrier,and others.At present,the experimental setting of the swimming micro-nanorobots was mainly studied in pure water or H_(2)O_(2) solution.This paper presents a micro-nanorobot that applied glucose in human body fluid as driving fuel.Based on the catalytic properties of the anode and cathode materials of the glucose fuel cell,platinum(Pt)and carbon nanotube(CNT)were selected as the anode and cathode materials,respectively,for the micro-nanorobot.The innovative design adopted the method of template electrochemical and chemical vapor deposition to manufacture the Pt/CNT micro-nanorobot structure.Both the scanning electron microscope(SEM)and transmission electron microscope(TEM)were employed to observe the morphology of the sample,and its elements were analyzed by energy-dispersive X-ray spectroscopy(EDX).Through a large number of experiments in a glucose solution and according to Stoker’s law of viscous force and Newton’s second law,we calculated the driving force of the fabricated micro-nanorobot.It was concluded that the structure of the Pt/CNT micronanorobot satisfied the required characteristics of both biocompatibility and motion.展开更多
The artificial locomotion control strategy is the fundamental technique to ensure the accomplishment of the preset assignments for cyborg insects.The existing research has recognized that the electrical stimulation ap...The artificial locomotion control strategy is the fundamental technique to ensure the accomplishment of the preset assignments for cyborg insects.The existing research has recognized that the electrical stimulation applied to the optic lobes was an appropriate flight control strategy for small insedts represented by honeybee.This control technique has been confirmed to be effective for honeybee flight initiation and cessation.However,its regulation effect on steering locomotion has not been fully verified.Here,we investigated the steering control effect of honeybee by applying electrical stimulation signals with different duty cycles and frequencies on the unilateral optic lobes and screened the stimulus parameters with the highest response successful rate.Moreover,we confirmed the effectiveness of steering control by verifying the presence of rotation torque on tethered honeybees and the body orientation change of crawling honeybees.Our study will contribute some reliable parameter references to the motion control of cyborg honeybees.展开更多
The capsule robot(CR)is a promising endoscopic method in gastrointestinal diagnosis because of its low discomfort to users.Most CRs are used to acquire image information only and lack the ability to collect samples.Al...The capsule robot(CR)is a promising endoscopic method in gastrointestinal diagnosis because of its low discomfort to users.Most CRs are used to acquire image information only and lack the ability to collect samples.Although some biopsy capsule robots(BCRs)have been developed,it remains challenging to acquire the intestinal tissue while avoiding tearing and adhesion due to the flexibility of colonic tissue.In this study,we develop a BCR with a novel sampling strategy in which soft tissue is scratched with sharp blades rotating at high speed to avoid tissue tearing.In the BCR design,a spiral spring with prestored energy is used to release high energy within a short period of time,which is dificult for a motor or magnet to perform within a small capacity installation space.The energy of the tightened spiral spring is transmitted to drive sharp blades to rotate quickly via a designed gear mechanism.To guarantee reliable sampling,a Bowden cable is used to transmit the user's manipulation to trigger the rotation of the blades,and the triggering force transmitted by the able can be monitored in real time by a force sensor installed at the manipulating end.A prototype of the proposed BCR is designed and fabricated,and its performance is tested through in vitro experiments.The results show that the proposed BCR is effective and the size of its acquired samples satisfies dinical requirements.展开更多
In this paper,a parallel quadrupedal robot was designed that is capable of versatile dynamic locomotion and perception-less terrain adaptation.Firstly,a quadrupedal robot with a symmetric legs and a powerful actuator ...In this paper,a parallel quadrupedal robot was designed that is capable of versatile dynamic locomotion and perception-less terrain adaptation.Firstly,a quadrupedal robot with a symmetric legs and a powerful actuator was implemented for highly dynamic movement.Then,a fast and reliable method based on generalized least square was proposed for estimating the terrain parameters by fusing the body,leg,and contact information.On the basis of virtual model control(VMC)with the quadratic program(QP)method,the optimal foot force for terrain adaptation was achieved.Finally,the results obtained by simulation and indoor and outdoor experiments demonstrate that the robot can achieve a robust and versa tile dynamic locomotion on uneven terrain,and the rejection of disturbances is reliable,which proves the effectiveness and robustness of this proposed method.展开更多
Remotely controlled soft continuum robots with active steering capability have broad prospects in medical applications.However,conventional continuum robots have the miniaturization challenge.This paper presents a mic...Remotely controlled soft continuum robots with active steering capability have broad prospects in medical applications.However,conventional continuum robots have the miniaturization challenge.This paper presents a microscale soft continuum microrobot with steering and locomotion capabilties based on magnetic field actuation.The magnetically driven soft continuum microrobot is made of NdFeB particles and polyd imethylsiloxane(PDMS),and it can be as small as 200 pum in diameter.Moreover,a hydrogel layer is covered on the surface of the microrobot,which not only overcomes the adhesion force between the microobjects and the soft tip but also reduces the friction between the microrobot and substrate.The performance test indicates the soft continuum microrobot featured excellent control and steering capabilities.The experimental results demonstrate that the soft continuum microrobot can travel through the microfluidic channel by its own vibration and flexibly steer in a bifurcation environment.Moreover,the micromanipulation of microbeads in the microfluidic channels proves that the proposed microscale soft continuum microrobot has a great potential for intravascu lar manipu lation.展开更多
Multidisciplinary computational anatomy(MCA)is a new frontier of science that provides a mathematical analysis basis for the comprehensive and useful understanding of“dynamic living human anatomy.”It defines a new m...Multidisciplinary computational anatomy(MCA)is a new frontier of science that provides a mathematical analysis basis for the comprehensive and useful understanding of“dynamic living human anatomy.”It defines a new mathematical modeling method for the early detection and highly intelligent diagnosis and treatment of incurable or intractable diseases.The MCA is a method of scientific research on innovative areas based on the medical images that are integrated with the information related to:(1)the spatial axis,extending from a cell size to an organ size;(2)the time series axis,extending from an embryo to post mortem body;(3)the functional axis on physiology or metabolism which is reflected in a variety of medical image modalities;and(4)the pathological axis,extending from a healthy physical condition to a diseased condition.It aims to integrate multiple prediction models such as multiscale prediction model,temporal prediction model,anatomy function prediction model,and anatomypathology prediction model.Artificial intelligence has been introduced to accelerate the calculation of statistic mathematical analysis.The future perspective is expected to promote the development of human resources as well as a new MCA-based scientific interdisciplinary field composed of mathematical statistics,information sciences,computing data science,robotics,and biomedical engineering and clinical applications.The MCA-based medicine might be one of the solutions to overcome the difficulties in the current medicine.展开更多
基金supported by the Singapore Ministry of Education(RG140/20)SPring-8 in Japan with the approval of the Japan Synchrotron Radiation Research Institute(Nos.2015A1502,2015B1449,2016A1169,2016B1492,2017A1087,2017B1464,2018A1087,and 2018B1261).
文摘While engineers put lots of effort,resources,and time in building insect scale micro aerial vehicles(MAVs)that fly like insects,insects themselves are the real masters of flight.What if we would use living insect as platform for MAV instead?Here,we reported a flight control via electrical stimulation of a flight musde of an insect-computer hybrid robot,which is the interface of a mountable wireless backpack controller and a living beetle.The beetle uses indirect flight muscles to drive wing flapping and three major direct flight muscles(basalar,subalar,and third axilliary(3Ax)muscles)to control the kinematics of the wings for flight maneuver.While turning control was already achieved by stimulating basalar and 3Ax muscles,electrical stimu lation of subalar musdes resulted in braking and elevation control in flight.We also demonstrated around 20 degrees of contralateral yaw and roll by stimulating individual subalar muscle.Stimulating both subalar muscles lead to an increase of 20 degrees in pitch and decelerate the flight by 1.5 m/s2 as well as an induce in elevation of 2m/s.
基金supported by the National Key R&D Program of China(No.2021YFC2400801)Projects of National Natural Science Foundation of China(Nos.82002290,82072452,52072210,and 81830076)+4 种基金Young Elite Scientist Sponsorship Program by Cast(No.YESS20200153)Natural Science Foun-dation of Shanghai(No.19ZR1439200)Shanghai Municipal Health Commission Foundation(No.202040399)Medical-Engineering Co-Project of University of Shanghai for Science and Technology(10-22-310-520)Shanghai Sailing Pro-gram(No.20YF1436000).
文摘Graphdiyne(GDY)is a new member of the family of carbon based nanomaterials with hybridized carbon atoms of sp and sp',including a,β,γ,and(6,6,12)-GDY,which difer in their percentage of acetylene bonds.The unique structure of GDY provides many attractive features,such as uniformly distributed pores,highlyπconjugated structure,high thermal stability,low toxicity,biod egradabilty,large specific surface area,tunable electrical conductivity,and remarkable thermal conductivity.Therefore,GDY is widely used in energy storage,catalysis,and energy fields,in addition to biomedical fields,such as biosensing,cancer therapy,drug delivery,radiation protection,and tissue engineering.In this review,we first discuss the synthesis of GDY with different shapes,including nanotubes,nanowires,nanowalls,and nanosheets.Second,we present the research progress in the biomedical field in recent years,along with the biodegradability and biocompatibility of GDY based on the existing literature.Subsequently,we present recent research results on the use of nanomaterials in peripheral nerve regeneration(PNR).Based on the wide application of nanomaterials in PNR and the remarkable properties of GDY,we.predict the prospects and current challenges of GDY-based materials for PNR.
基金supported in part by the Beijing Natural Science Foundation under Grant 4222056in part by the Beijing Nova Program under Grant Z211100002121152+2 种基金in part by the National Natural Science Foundation of China under Grants 62073316 and 62122087in part by the Youth Innovation Promotion Association CAS under Grant 2020137in part by the Young Elite Scientist Sponsor-ship Program by CAST under Grant YESS20210236.
文摘In this paper,the hydrodynamic modeling and parameter identifcation of the RobDact,a bionic underwater vehide inspired byDactylopteridae,are carried out based on computational fluid dynamics(CFD)and force measurement experiment.Firstly,thePaper briely describes the RobDact,then establishes the kinematis model and rigid body dynamics model of the RobDactaccording to the hydrodynamic force and moment equations.Through CFD simulations,the hydrodynamic force of theRobDact at diferent speeds is obtained,and then,the hydrodynamic model parameters are identified.Furthermore,themeasurement platform is developed to obtain the relationship between the thrust generated by the RobDact and the inputfluctuation parameters,Finally,combining the rigid body dynamics model and the fin'thrust mapping model,thehydrodynamic model of the RobDact at diferent motion states is constructed.
基金supported by the National Key R&D Program of China(grant number 2019YFB1309702)the National Natural Science Foundation(grant number 61520106011)。
文摘In vitro three-dimensional(3D)cellular models with native tissue-like architectures and functions have potential as alternatives to human tissues in regenerative medicine and drug discovery.However,it is difficult to replicate liver constructs that mimic in vivo microenvironments using current approaches in tissue engineering because of the vessel-embedded 3D structure and complex cell distribution of the liver.This paper reports a pulsed microflow-based on-chip 3D assembly method to construct 3D liver lobule-like models that replicate the spatial structure and functions of the liver lobule.The heterogeneous cell-laden assembly units with hierarchical cell distribution are fabricated through multistep photopatterning of different cell-laden hydrogels.Through fluid force interaction by pulsed microflow,the hierarchical assembly units are driven to a stack,layer by layer,and thus spatially assemble into 3D cellular models in the closed liquid chamber of the assembly chip.The 3D models with liver lobule-like hexagonal morphology and radial cell distribution allow the dynamic perfusion culture to maintain high cell viability and functional expression during long-term culture in vitro.These results demonstrate that the fabricated 3D liver lobule-like models are promising for drug testing and the study of individual diagnoses and treatments.
基金supported by JSPS KAKENHI Grant Number 16KK0147,JKA foundation(Japan Keirin Autorace).
文摘Low-labor production of tissue-engineered muscles(TEMs)is one of the key technologies to realize the practical use of muscleactuated devices.This study developed and then demonstrated the daily maintenance-free culture system equipped with both electrical stimulation and medium replacement functions.To avoid ethical issues,immortal myoblast cells C2C12 were used.The system consisting of gel culture molds,a medium replacement unit,and an electrical stimulation unit could produce 12 TEMs at one time.The contractile forces of the TEMs were measured with a newly developed microforce measurement system.Even the TEMs cultured without electrical stimulation generated forces of almost 2mN and were shortened by 10%in tetanic contractions.Regarding the contractile forces,electrical stimulation by a single pulse at 1 Hz was most effective,and the contractile forces in tetanus were over 2.5 mN.On the other hand,continuous pulses decreased the contractile forces of TEMs.HE-stained cross-sections showed that myoblast cells proliferated and fused into myotubes mainly in the peripheral regions,and fewer cells existed in the internal region.This must be due to insufficient supplies of oxygen and nutrients inside the TEMs.By increasing the supplies,one TEM might be able to generate a force up to around 10 mN.The tetanic forces of the TEMs produced by the system were strong enough to actuate microstructures like previously reported crawling robots.This daily maintenance-free culture system which could stably produce TEMs strong enough to be utilized for microrobots should contribute to the advancement of biohybrid devices.
基金support from the National Key R&D Program of China(2020YFC2007300)the National Natural Science Foundation of China(U20A20388)+2 种基金support from the Beijing Institute of Technology Research Fund Program for Young Scholars(XSQD-202123003)support from the Natu-ral Science Foundation of Jiangsu Province of China(BK20190809)support from the Beijing Institute of Technology Teli Young Fellow Program(33012222218).
文摘The rapid development of medical micromotors draws a beautiful blueprint for the noninvasive or minimally invasive diagnosis and therapy.By combining stimuli-sensitive hydrogel materials,micromotors are bestowed with new characteristics such as stimuli-responsive shape transformation/morphing.excellent biocompatibility and biodegradability,and drug loading ability.Actuated by chemical fuels or external fields(eg,magnetic field,ultrasound,light,and electric field),hydrogel-based stimuli-responsive(HBSR)micromotors can be utilized to load therapeutic agents into the hydrogel networks or directly grip the target cargos(eg.,drug-loaded partides,cells,and thrombus),transport them to sites of interest(e.g.,tumor area and diseased tissues),and unload the cargos or execute a specific task(e.g.,cell capture,targeted sampling,and removal of blood dots)in response to a stimulus(eg.,change of temperature,pH,ion strength,and chemicals)in the physiological environment.The high flexibility,adaptive capacity,and shape morphing property enable the H BSR micromotors to complete specific medical tasks in complex physiological scenarios,especially in confined,hard to-reach tissues,and vessels of the body.Herein,this review summarizes the current progress in hydrogel-based medical micromotors with stimuli responsiveness.The thermo-responsive,photothermal-responsive,magnetocaloric-responsive,pH-responsive,ionic strength-responsive,and chemoresponsive micromotors are discussed in detail.Finally,curent challenges and future perspectives for the development of HBSR micromotors in the biomedical field are discussed.
基金support from National Institute of General Medical Sciences of the National Institutes of Health under RL5GM118969,TL4GM118971,the NIH BUILD Pilot grant#8UL1GM118970-02.
文摘Since conventional human cardiac two-dimensional(2D)cell culture and multilayered three-dimensional(3D)models fail in recapitulating cellular complexity and possess inferior translational capacity,we designed and developed a high-throughput scalable 3D bioprinted cardiac spheroidal droplet-organoid model with cardiomyocytes and cardiac fibroblasts that can be used for drug screening or regenerative engineering applications.This study helped establish the parameters for bioprinting and cross-linking a gelatin-alginate-based bioink into 3D spheroidal droplets.A flattened disk-like structure developed in prior studies from our laboratory was used as a control.The microstructural and mechanical stability of the 3D spheroidal droplets was assessed and was found to be ideal for a cardiac scaffold.Adult human cardiac fibroblasts and AC16 cardiomyocytes were mixed in the bioink and bioprinted.Live-dead assay and flow cytometry analysis revealed robust biocompatibility of the 3D spheroidal droplets that supported the growth and proliferation of the cardiac cells in the long-term cultures.Moreover,the heterocellular gap junctional coupling between the cardiomyocytes and cardiac fibroblasts further validated the 3D cardiac spheroidal droplet model.
基金support from Karl Van Tassel(1925)Career Development Professorship and the Department of Mechanical Engineering,MIT,and the Division of Gastro-enterology,Brigham and Women's Hospitalsupport from Hans and Mavis Lopater Psycho-social Foundation(NIH K23DA044874 and R44DA051106).
文摘The COVID-19 pandemic has accelerated methods to faciltate contactless evaluation of patients in hospital sttings.By minimizing in-person contact with individuals who may have COVID 19,healthcare workers can prevent disease transmission and conserve personal protective equipment.Obtaining vital signs is a ubiquitous task that is commonly done in person by healthcare workers.To eliminate the need for in-person contact for vital sign measurement in the hospital setting,we developed Dr.Spot,a mobile quadruped robotic system.The system includes IR and RGB cameras for vital sign monitoring and a tablet computer for face-to-face medical interviewing.Dr.Spot is teleoperated by trained clinical staff to simultaneously measure the skin temperature,respiratory rate,and heart rate while maintaining social distancing from patients and without removing their mask.To enable accurate,contactless measurements on a mobile system without a static black body as reference,we propose novel methods for skin temperature compensation and respiratory rate measurement at various distances between the subject and the cameras,up to 5 m.Without compensation,the skin temperature MAE is 13℃.Using the proposed compensation method,the skin temperature MAE is reduced to 0.3℃.The respiratory rate method can provide continuous monitoring with a MAE of 1.6 BPM in 30s or rapid screening with a MAE of 2.1 BPM in 10s.For the heart rate estimation,our system is able to achieve a MAE less than 8 BPM in 10s measured in arbitrary indoor light conditions at any distance below 2 m.
基金support from the National Key R&D Program of China(No.2019YFB1309700)the Bejing Nova Program of Science and Technology under Grant No.Z19100001119003.
文摘Cell segmentation and counting play a very important role in the medical field.The diagnosis of many diseases relies heavily on the kind and number of cells in the blood.convolution neural network achieves encouraging results on image segmentation.However,this data-driven method requires a large number of annotations and can be a time-consuming and expensive process,prone to human error.In this paper,we present a novel frame to segment and count cells without too many manually annotated cell images.Before training.we generated the cell image labels on single-kind cell images using traditional algorithms.These images were then used to form the train set with the label.Different train sets composed of different kinds of cell images are presented to the segmentation model to update its parameters.Finally,the pretrained U-Net model is transferred to segment the mixed cell images using a small dataset of manually labeled mixed cell images.To better evaluate the efectiveness of the proposed method,we design and train a new automatic cell segmentation and count framework.The test results and analyses show that the segmentation and count performance of the framework trained by the proposed method equal the model trained by large amounts of annotated mixed cell images.
基金supported by JSPS KAKENHI Grant Numbers JP19H02113,JP18J22908the Japan Society for the Promotion of Science of JRPs(Stretchable ElectroHydroDynamics).
文摘The importance of actuators that can be integrated with flexible robot structures and mechanisms has increased in recent years with the advance of soft robotics.In particular,electrohydrodynamic(EHD)actuators,which have expandable integrability to adapt to the flexible motion of soft robots,have received much attention in the field of soft robotics.Studies have deepened the understanding of steady states of EHD phenomena but nonsteady states are not well understood.We herein observe the development process of fluid in a microchannel adopting a Schlieren technique with the aid of a high-speed camera.In addition,we analyze the behavior of fluid flow in a microchannel that is designed to have pairs of parallel plate electrodes adopting a computational fluid dynamics technique.Results indicate the importance of considering flow generated by electrostatic energy,which tends to be ignored in constructing and evaluating EHD devices,and by the body force generated by the ion-drag force.By considering these effects,we estimate the development process of EHD flow and confirm the importance of considering the generation of vortices and their interactions inside the microchannel during the development of EHD devices.
基金supported by the National Key R&D Program of China(grant numbers 2018YFC0115400,2018YFC1314502)the National Natural Science Foundation of China(grant numbers 61727807,81671776),the Beijing Municipal Science&Technology Commission(grant number Z191100010618004)JSPS KAKENHI(grant numbers JP18H01411,JST FOREST Program(grant number JPMJFR2041).
文摘In the past few years,we have gained a better understanding of the information processing mechanism in the human brain,which has led to advances in artificial intelligence and humanoid robots.However,among the various sensory systems,studying the somatosensory system presents the greatest challenge.Here,we provide a comprehensive review of the human somatosensory system and its corresponding applications in artificial systems.Due to the uniqueness of the human hand in integrating receptor and actuator functions,we focused on the role of the somatosensory system in object recognition and action guidance.First,the low-threshold mechanoreceptors in the human skin and somatotopic organization principles along the ascending pathway,which are fundamental to artificial skin,were summarized.Second,we discuss high-level brain areas,which interacted with each other in the haptic object recognition.Based on this close-loop route,we used prosthetic upper limbs as an example to highlight the importance of somatosensory information.Finally,we present prospective research directions for human haptic perception,which could guide the development of artificial somatosensory systems.
基金supported by the Fundamental Research Funds for the Central Universities,China(22120210364).
文摘DNA nanotechnology takes DNA molecule out of its biological context to build nanostructures that have entered the realm of robots and thus added a dimension to cyborg and bionic systems.Spurred by spring-like properties of DNA molecule,the assembled nanorobots can be tuned to enable restricted,mechanical motion by deliberate design.DNA nanorobots can be programmed with a combination of several unique features,such as tissue penetration,site-targeting,stimuli responsiveness,and cargo-loading,which makes them ideal candidates as biomedical robots for precision medicine.Even though DNA nanorobots are capable of detecting target molecule and determining cell fate via a variety of DNA-based interactions both in vitro and in vivo,major obstacles remain on the path to real-world applications of DNA nanorobots.Control over nanorobot’s stability,cargo loading and release,analyte binding,and dynamic switching both independently and simultaneously represents the most eminent challenge that biomedical DNA nanorobots currently face.Meanwhile,scaling up DNA nanorobots with low-cost under CMC and GMP standards represents other pertinent challenges regarding the clinical translation.Nevertheless,DNA nanorobots will undoubtedly be a powerful toolbox to improve human health once those remained challenges are addressed by using a scalable and cost-efficient method.
文摘Cyborg and Bionic Systems provides a much-needed forum for presenting research outcomes and insights in various fields concerning living-robotics hybrid systems.The research efforts within these fields are aimed at understanding,mimicking,and recapitulating natural principles and mechanisms of life,which have inspired numerous inventions and propelled technology advancements throughout history.From cardiac pacemakers to artificial cochlea,a range of biomedical applications of cyborg and bionic system technologies has benefited humans.Artificial organs,exoskeletons with neural interfacing,and brain-machine interfaces(BMIs)for neurological recovery have been applied to replace or repair lost functions.An example of inspiring achievements and the potential of cyborg and bionic system technologies to restore human capabilities is CYBATHLON,a championship for physically challenged people using assistive technologies which began in 2016.These technologies are closely coupled with the“embodiment”issues which are essentially concerned with the psychological and sensing aspects of prosthetic arms and legs and even extra artificial limbs to augment our body for carrying out various tasks,a concept championed by a pioneering team led by Professor Harry Asada at MIT through a technology aptly named Supernumerary Robotic Limbs(SRL).
基金supported by the Ministry of Science and Technology of the People's Republic of China(2021ZD0201900)the Beijing Natural Science Foundation(Key Project No.Z210001)+1 种基金the National Natural Science Foundation of China(No.12171036)the China Post-doctoral Science Foundation(Grant No.2021M700423).
文摘1.Introduction Since a long time,measuring the psychological status of sub-jects in a quantitative paradigm is a challenging problem inthe scientific community.It is known that there is not adirect way to measure the_psychological quantities^([1]),whereas an emerging methodology,ie,computational psy.chophysiology(CPP),was introduced^([2]).
基金supported by the National Natural Science Foundation of China(U1813211 and 61773275).
文摘Swimming micro-nanorobots have attracted researchers’interest in potential medical applications on target therapy,biosensor,drug carrier,and others.At present,the experimental setting of the swimming micro-nanorobots was mainly studied in pure water or H_(2)O_(2) solution.This paper presents a micro-nanorobot that applied glucose in human body fluid as driving fuel.Based on the catalytic properties of the anode and cathode materials of the glucose fuel cell,platinum(Pt)and carbon nanotube(CNT)were selected as the anode and cathode materials,respectively,for the micro-nanorobot.The innovative design adopted the method of template electrochemical and chemical vapor deposition to manufacture the Pt/CNT micro-nanorobot structure.Both the scanning electron microscope(SEM)and transmission electron microscope(TEM)were employed to observe the morphology of the sample,and its elements were analyzed by energy-dispersive X-ray spectroscopy(EDX).Through a large number of experiments in a glucose solution and according to Stoker’s law of viscous force and Newton’s second law,we calculated the driving force of the fabricated micro-nanorobot.It was concluded that the structure of the Pt/CNT micronanorobot satisfied the required characteristics of both biocompatibility and motion.
基金supported by the Beijing Natural Science Foundation(grant 3212012)the National Natural Science Foundation of China(grant 52075038)+1 种基金the National Key R&D Program of China(2021YFB3400200)the Beijing Institute of Technology Research Fund Program for Young Scholars.
文摘The artificial locomotion control strategy is the fundamental technique to ensure the accomplishment of the preset assignments for cyborg insects.The existing research has recognized that the electrical stimulation applied to the optic lobes was an appropriate flight control strategy for small insedts represented by honeybee.This control technique has been confirmed to be effective for honeybee flight initiation and cessation.However,its regulation effect on steering locomotion has not been fully verified.Here,we investigated the steering control effect of honeybee by applying electrical stimulation signals with different duty cycles and frequencies on the unilateral optic lobes and screened the stimulus parameters with the highest response successful rate.Moreover,we confirmed the effectiveness of steering control by verifying the presence of rotation torque on tethered honeybees and the body orientation change of crawling honeybees.Our study will contribute some reliable parameter references to the motion control of cyborg honeybees.
基金supported by the China National Key Research and Development Project(No.2019YFB1312404)the Natural Science Foundation of China(No.51975401).
文摘The capsule robot(CR)is a promising endoscopic method in gastrointestinal diagnosis because of its low discomfort to users.Most CRs are used to acquire image information only and lack the ability to collect samples.Although some biopsy capsule robots(BCRs)have been developed,it remains challenging to acquire the intestinal tissue while avoiding tearing and adhesion due to the flexibility of colonic tissue.In this study,we develop a BCR with a novel sampling strategy in which soft tissue is scratched with sharp blades rotating at high speed to avoid tissue tearing.In the BCR design,a spiral spring with prestored energy is used to release high energy within a short period of time,which is dificult for a motor or magnet to perform within a small capacity installation space.The energy of the tightened spiral spring is transmitted to drive sharp blades to rotate quickly via a designed gear mechanism.To guarantee reliable sampling,a Bowden cable is used to transmit the user's manipulation to trigger the rotation of the blades,and the triggering force transmitted by the able can be monitored in real time by a force sensor installed at the manipulating end.A prototype of the proposed BCR is designed and fabricated,and its performance is tested through in vitro experiments.The results show that the proposed BCR is effective and the size of its acquired samples satisfies dinical requirements.
基金supported by the National Key Research Program of China(2017YFE0128300).
文摘In this paper,a parallel quadrupedal robot was designed that is capable of versatile dynamic locomotion and perception-less terrain adaptation.Firstly,a quadrupedal robot with a symmetric legs and a powerful actuator was implemented for highly dynamic movement.Then,a fast and reliable method based on generalized least square was proposed for estimating the terrain parameters by fusing the body,leg,and contact information.On the basis of virtual model control(VMC)with the quadratic program(QP)method,the optimal foot force for terrain adaptation was achieved.Finally,the results obtained by simulation and indoor and outdoor experiments demonstrate that the robot can achieve a robust and versa tile dynamic locomotion on uneven terrain,and the rejection of disturbances is reliable,which proves the effectiveness and robustness of this proposed method.
基金supported by the National Natural Science Foundation of China under Grants 61873037 and 61903039.
文摘Remotely controlled soft continuum robots with active steering capability have broad prospects in medical applications.However,conventional continuum robots have the miniaturization challenge.This paper presents a microscale soft continuum microrobot with steering and locomotion capabilties based on magnetic field actuation.The magnetically driven soft continuum microrobot is made of NdFeB particles and polyd imethylsiloxane(PDMS),and it can be as small as 200 pum in diameter.Moreover,a hydrogel layer is covered on the surface of the microrobot,which not only overcomes the adhesion force between the microobjects and the soft tip but also reduces the friction between the microrobot and substrate.The performance test indicates the soft continuum microrobot featured excellent control and steering capabilities.The experimental results demonstrate that the soft continuum microrobot can travel through the microfluidic channel by its own vibration and flexibly steer in a bifurcation environment.Moreover,the micromanipulation of microbeads in the microfluidic channels proves that the proposed microscale soft continuum microrobot has a great potential for intravascu lar manipu lation.
基金“Multidisciplinary Computational Anatomy and its Application to Highly Intelligent Diagnosis and Therapy(MCA:multidisciplinary Computational Anatomy in short)”was funded by the JapanMinistry of Education,Culture,Sports,Science and Technology(MEXT)Grant-in-Aid for Scientific Research on Innovative Areas(JSPS KAKENHI grant numbers 26108001 to 26108010),Japanese Government.
文摘Multidisciplinary computational anatomy(MCA)is a new frontier of science that provides a mathematical analysis basis for the comprehensive and useful understanding of“dynamic living human anatomy.”It defines a new mathematical modeling method for the early detection and highly intelligent diagnosis and treatment of incurable or intractable diseases.The MCA is a method of scientific research on innovative areas based on the medical images that are integrated with the information related to:(1)the spatial axis,extending from a cell size to an organ size;(2)the time series axis,extending from an embryo to post mortem body;(3)the functional axis on physiology or metabolism which is reflected in a variety of medical image modalities;and(4)the pathological axis,extending from a healthy physical condition to a diseased condition.It aims to integrate multiple prediction models such as multiscale prediction model,temporal prediction model,anatomy function prediction model,and anatomypathology prediction model.Artificial intelligence has been introduced to accelerate the calculation of statistic mathematical analysis.The future perspective is expected to promote the development of human resources as well as a new MCA-based scientific interdisciplinary field composed of mathematical statistics,information sciences,computing data science,robotics,and biomedical engineering and clinical applications.The MCA-based medicine might be one of the solutions to overcome the difficulties in the current medicine.
