Robotics and Biomimetics

http://link.springer.com/journal/40638

List of Papers (Total 78)

A biomimetic study of natural attachment mechanisms: imaging cellulose and chitin part 2

To create a model of a biomimetic product from the A. minus hook after a biomimetic methodology has been applied, this paper describes an investigation into the most appropriate method of shape acquisition for the purposes of reproduction and product development towards manufacture. This morphological study investigates confocal microscopy, SEM and other microscopy techniques...

On the static structural design of climbing robots: part 1

This manuscript is the first of two parts of a work investigating optimal configurations of legged climbing robots while loitering on vertical surfaces. In this part 1, a mathematical model of a climbing robot based on the finite element method (FEM), specifically the stiffness method, is generated. A number of parameters, namely the height of the robot, the length of its body...

On the static structural design of climbing robots: part 2

This manuscript is the second of two parts of a work investigating optimal configurations of legged climbing robots while loitering on vertical surfaces. In this Part 2, a structural analysis based on the finite element method, specifically the stiffness method, is performed to address the problem. Parameters that are investigated in this Part 2 include the inclination of both...

A biomimetic study of natural attachment mechanisms—Arctium minus part 1

The hook as a shape occurs very early on the evolutionary scale. Cellulose appears as a biological building block in the Cambrian age from fossil records, and hooks have been found in chitinous organisms as mandibles, maxillae as well as tarsi. Hook separation forces associated with plant seed and fruit dispersal have been studied in four species by SN Gorb. A fifth, Arctium...

Realization of rolling locomotion by a wheel-spider-inspired hexapod robot

This study aims to realize rolling locomotion by a multi-legged robot inspired by “wheel spider” in nature. A novel robot mechanism and a strategy for rolling locomotion is proposed in this paper based on motion analysis of wheel spider species in nature. We also present details of a model of a wheel-spider-inspired hexapod robot and design of its controller in realizing rolling...

Optimization and preoperative adjustment design of remote center motion mechanism for minimally invasive surgical robot

In this paper, a new remote center motion (RCM) mechanism called triangle is proposed; this mechanism is simple and with high stiffness. A complete kinematic analysis and optimization algorithm implying AHP which is a combination of quantitative and qualitative analysis method incorporating the requirements for minimally invasive surgery (MIS) are performed to find the optimal...

Path following control of planar snake robots using virtual holonomic constraints: theory and experiments

This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange equations of motion of the system. Subsequently, we define geometric relations among the generalized coordinates of the system, using the method of virtual...

Tubular micromotors: from microjets to spermbots

In the last decade, it was demonstrated that tubular micromotors are of potential interest for environmental, sensing, and medical applications. Even though catalytic micromotors rely on toxic fuel for their propulsion, many proof-of-concept applications were shown. Currently, the research community of micromotors is searching for biocompatible fuel solutions in order to extend...

Learning by imitation with the STIFF-FLOP surgical robot: a biomimetic approach inspired by octopus movements

Transferring skills from a biological organism to a hyper-redundant system is a challenging task, especially when the two agents have very different structure/embodiment and evolve in different environments. In this article, we propose to address this problem by designing motion primitives in the form of probabilistic dynamical systems. We take inspiration from invertebrate...

Kinematic study and implementation of a bio-inspired robotic fish underwater vehicle in a Lighthill mathematical framework

This paper has focused on the formulation of the biological fish propulsion mechanism given by Sir J. Lighthill mathematical slender body theory for a bio-inspired robotic fish. A 2-joint, 3-link multibody vehicle model biologically inspired by a body caudal fin (BCF) carangiform fish propulsion is designed. The objective is to investigate and show that a machine mimicking real...

State of the art: micro-nanorobotic manipulation in single cell analysis

Single cell analysis is an essential research approach to reveal the secret of life. At such a small scale, it puts forward higher demand on the accuracy of the cell manipulation system. This paper reviews the state of the art of micro-nanorobotic manipulation in single cell analysis. First, the key applications of the micro-nanorobotic manipulation system in single cell analysis...

Experimental design and signal selection for construction of a robot control system based on EEG signals

Aiming to develop an noninvasive BMI control system with EEG (electroencephalogram) signals to control external devices such as prostheses and robots for rehabilitation and/or power support, four different tasks corresponding to different brain excitation degrees are designed. Their EEG spectra are analyzed with short-time fast Fourier transform (STFFT), and their features of mu...

Cell segmentation and pipette identification for automated patch clamp recording

A visual-based approach for identifying living cells and performing the automated patch clamp recording was reported. Based on the image processing and blob detection algorithm, the vision-based method was developed for the detection and identification of biological cells and micropipette. The method was implemented in a micromanipulation system that enabled the identification of...

Performance analysis of 3-D shape measurement algorithm with a short baseline projector-camera system

A number of works for 3-D shape measurement based on structured light have been well-studied in the last decades. A common way to model the system is to use the binocular stereovision-like model. In this model, the projector is treated as a camera, thus making a projector-camera-based system unified with a well-established traditional binocular stereovision system. After...

The FES-assisted control for a lower limb rehabilitation robot: simulation and experiment

To design a control strategy for iLeg, an exoskeleton robot developed for lower limb rehabilitation aiming at investigating the feasibility of integrating functional electrical stimulation (FES) with robot-based rehabilitation training, an FES-assisted training strategy combined with impedance control, has been proposed in this paper. Through impedance control, an active...

Interactive actuation of multiple opto-thermocapillary flow-addressed bubble microrobots

Opto-thermocapillary flow-addressed bubble (OFB) microrobots are a potential tool for the efficient transportation of micro-objects. This microrobot system uses light patterns to generate thermal gradients within a liquid medium, creating thermocapillary forces that actuate the bubble microrobots. An interactive control system that includes scanning mirrors and a touchscreen...

Enhanced assessment of limb neuro-mechanics via a haptic display

Current state-of-the-art quantitative assessments of abnormal neuro-mechanics (e.g., spasticity, rigidity, dystonia) require sophisticated measurement systems that, together with the lengthiness of the data acquisition, make these approaches impractical for the clinical setting. Our long-term goal is to create a tool that enhances the capability of therapists to diagnose abnormal...

A two-axis cable-driven ankle-foot mechanism

This paper describes a novel cable-driven ankle-foot mechanism with two controllable degrees of freedom (DOF) in dorsiflexion-plantarflexion (DP) and inversion-eversion (IE). The presented mechanism is a proof of concept to demonstrate feasibility. Ankle kinematic measurements demonstrate that ankle IE rotations during a step turn are significantly different from walking on a...

Learning search polices from humans in a partially observable context

Decision making and planning for which the state information is only partially available is a problem faced by all forms of intelligent entities they being either virtual, synthetic or biological. The standard approach to mathematically solve such a decisional problem is to formulate it as a partially observable decision process (POMDP) and apply the same optimisation techniques...

Bioinspired non-invasive radial pulse sensor: from biomimetic design, system calibration, to clinic application

The research work aims at developing a real-time non-invasive metabolism and blood circulation surveillance system for monitoring human’s health condition by sensing the various bio-signals on the human body. Our goal is to use the developed system to study the functions and characters of organs and tissues that highly relate with the metabolism and blood circulation system, and...

Terrain perception for a reconfigurable biomimetic robot using monocular vision

This paper presents a reconfigurable biomimetic robot which is able to crawl and roll. The robot mimics the morphology of a huntsman spider that can transform between crawling and rolling by reconfiguring its legs. Terrain perception for reconfigurable biomimetic robots has not been studied in literature. This work tends to perceive and segment the terrain when the robot is...

Shape of mole nose providing minimum axial resistance

Introduction As a carrier of different sensors, moles can penetrate into the regolith automatically and keep investigating the subsurface environment continuously. In this section, features of several moles with different applications are introduced to explain why we choose a hammer-driven mole to study. Mole driven by a hammer In this section, the penetrating principle of a...

Magnetic microrobot and its application in a microfluidic system

This paper researches the design and control method of a microrobot in a microfluidic system by electromagnetic field. The microrobot can move along the microchannel to a required position, and by changing the magnetic torque, the microrobot can also rotate in the microfluidic chip. As an application of the microrobot, it is used as a mobile micromixer to mix two solutions in the...

Towards developing a robot assistant for uterus positioning during hysterectomy: system design and experiments

Background In traditional laparoscopic hysterectomy, an assistant is typically assigned to hold a uterus manipulator to facilitate the surgical procedures. The responsibility of the assistant is to position the uterus according to the primary surgeon’s instructions. Throughout the surgery, which typically lasts more than 90 min, the assistant has to support the uterus manipulator...