Adaptive Online Learning and Robust 3-D Shape Servoing of Continuum and Soft Robots in Unstructured Environments.

In this article, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum and soft robots based on proprioceptive sensing feedback. Developments of 3-D shape perception and control technologies are crucial for continuum and soft robots to perform tasks autonomously in surgical interventions. However, owing to the nonlinear properties of continuum robots, one main difficulty lies in the modeling of them, especially for soft robots with variable stiffness. To address this problem, we propose a versatile learning-based adaptive shape controller by leveraging proprioception of 3-D configuration from fiber Bragg grating (FBG) sensors, which can online estimate the unknown model of continuum robot against unexpected disturbances and exhibit an adaptive behavior to the unmodeled system without priori data exploration. Based on a new composite adaptation algorithm, the asymptotic convergences of the closed-loop system with learning parameters have been proven by Lyapunov theory. To validate the proposed method, we present a comprehensive experimental study using two continuum and soft robots both integrated with multicore FBGs, including a robotic-assisted colonoscope and multisection extensible soft manipulators. The results demonstrate the feasibility, adaptability, and superiority of our controller in various unstructured environments, as well as phantom experiments.

Enhanced Bacterial Growth by Polyelemental Glycerolate Particles.

While polyelemental alloys are shown to be promising for healthcare applications, their effectiveness in promoting bacterial growth remains unexplored. In the present work, we evaluated the interaction of polyelemental glycerolate particles (PGPs) with Escherichia coli (E. coli) bacteria. PGPs were synthesized using the solvothermal route, and nanoscale random distribution of metal cations in the glycerol matrix of PGPs was confirmed. We observed 7-fold growth of E. coli bacteria upon 4 h of interaction with quinary glycerolate (NiZnMnMgSr-Gly) particles in comparison to control E. coli bacteria. Nanoscale microscopic studies on bacteria interactions with PGPs showed the release of metal cations in the bacterium cytoplasm from PGPs. The electron microscopy imaging and chemical mapping indicated bacterial biofilm formation on PGPs without causing significant cell membrane damage. The data showed that the presence of glycerol in PGPs is effective in controlling the release of metal cations, thus preventing bacterial toxicity. The presence of multiple metal cations is expected to provide synergistic effects of nutrients needed for bacterial growth. The present work provides key microscopic insights of mechanisms by which PGPs enhance biofilm growth. This study opens the door for future applications of PGPs in areas where bacterial growth is essential including healthcare, clean energy, and the food industry.

Honeycomb Jamming: An Enabling Technology of Variable Stiffness Reconfiguration.

Jamming technologies are one of the promising approaches of variable stiffness mechanisms. However, there are problems limiting the broad application of jamming-based approaches such as a limited stiffening capacity and restricted stiffening position. This article presents a variable stiffness mechanism to achieve a rapid flexible to rigid state transition with biocompatibility, fail-safe design, and enhanced stiffening capacity. A novel strategy of reconfiguration of stiffening regions, which is entitled variable stiffness reconfiguration, is exploited to control not only the stiffnesses but also the positions and areas of the stiffening regions. At first, this article provides a new approach to the variable stiffness soft robotics community to enable both stiffness control and stiffening region adjustment. In this way, additional functions of the variable stiffness mechanisms including reproducing complex manipulator postures or customizing the soft gripper, through delivering functional units into or out of the devices, are demonstrated. Through reconfiguration, our design provides a generally applicable solution for a wide range of complex manipulator postures reproduced and objects grasped by reconfiguration of the stiffening regions. The variable stiffness mechanism is empirically evaluated with a comparison with other variable stiffness strategies in which the proposed solution shows greater stiffening capability, and an experimental search of optimal parameters of the honeycomb structure is presented. Finite element models, which have shown reasonable agreement with the empirical results, are constructed to model the stiffnesses, and an analytic model of the manipulator is derived to predict the posture.

Untethered Multimode Fluidic Actuation: A New Approach to Soft and Compliant Robotics.

Fluid actuated soft robots, or fluidic elastomer actuators, have shown great potential in robotic applications where large compliance and safe interaction are dominant concerns. They have been widely studied in wearable robotics, prosthetics, and rehabilitations in recent years. However, such soft robots and actuators are tethered to a bulky pump and controlled by various valves, limiting their applications to a small confined space. In this study, we report a new and effective approach to fluidic power actuation that is untethered, easy to design, fabricate, control, and allows various modes of actuation. In the proposed approach, a sealed elastic tube filled with fluid (gas or liquid) is segmented by adaptors. When twisting a segment, two major effects could be observed: (1) the twisted segment exhibits a contraction force and (2) other segments inflate or deform according to their constraint patterns. Utilizing such effects, various actuation modes could be realized. In this research, four modes of actuation are illustrated: (1) soft actuator and pump actuation, (2) serial actuation, (3) parallel actuation, and (4) agonist and antagonist actuation. Theoretic analysis and experimental studies for the basic actuation principle have been conducted. A case study on an anthropomorphic forearm based on the proposed twisting tube actuation has been developed to showcase the effectiveness of the actuation modes. The studies suggest that the proposed approach has a great potential in both soft and compliant robotics.

Tele-Operated Oropharyngeal Swab (TOOS) Robot Enabled by TSS Soft Hand for Safe and Effective Sampling.

The COVID-19 pandemic has imposed serious challenges in multiple perspectives of human life. To diagnose COVID-19, oropharyngeal swab (OP SWAB) sampling is generally applied for viral nucleic acid (VNA) specimen collection. However, manual sampling exposes medical staff to a high risk of infection. Robotic sampling is promising to mitigate this risk to the minimum level, but traditional robot suffers from safety, cost, and control complexity issues for wide-scale deployment. In this work, we present soft robotic technology is promising to achieve robotic OP swab sampling with excellent swab manipulability in a confined oral space and works as dexterous as existing manual approach. This is enabled by a novel Tstone soft (TSS) hand, consisting of a soft wrist and a soft gripper, designed from human sampling observation and bio-inspiration. TSS hand is in a compact size, exerts larger workspace, and achieves comparable dexterity compared to human hand. The soft wrist is capable of agile omnidirectional bending with adjustable stiffness. The terminal soft gripper is effective for disposable swab pinch and replacement. The OP sampling force is easy to be maintained in a safe and comfortable range (throat sampling comfortable region) under a hybrid motion and stiffness virtual fixture-based controller. A dedicated 3 DOFs RCM platform is used for TSS hand global positioning. Design, modeling, and control of the TSS hand are discussed in detail with dedicated experimental validations. A sampling test based on human tele-operation is processed on the oral cavity model with excellent success rate. The proposed TOOS robot demonstrates a highly promising solution for tele-operated, safe, cost-effective, and quick deployable COVID-19 OP swab sampling.

Adaptive Variable Stiffness Particle Phalange for Robust and Durable Robotic Grasping.

Grasping is an important characteristic of robots in interacting with humans and the environment. Due to the inherent compliance of soft grippers, they can easily adapt to novel objects and operate safely in a human-centered environment. However, soft hands suffer from poor grasping robustness and operation durability, especially for heavy objects or objects with sharp spikes, mainly due to their fragile material and low structural stiffness of the soft actuators. Thus, the widespread use of soft hands in daily applications is still limited. Existing works have shown a promising direction to enhance grasping performance by solving the contradiction between inherent compliance/adaptability and loading capacity. It is known that the stiffness of the robotic phalange is highly related to the performance of robotic hands. In this article, we propose a novel variable stiffness particle phalange, called VSPP here. The proposed VSPP exhibits variable stiffness characteristics without the need for dedicated actuation by utilizing passive particle jamming resulted from forces in interacting with the environment. The VSPP can cooperate with any kind of actuators, soft or rigid, to function as a compliant and robust robotic hand. A prototype robotic hand based on VSPP could maintain reliable grasping even when pierced by sharp objects such as a needle, a cactus, and a durian. This durability is effective both in air and underwater, thus presents new possibilities for the soft robotic hand to work in a harsh environment. The inherent multidirectional compliance of the VSPP makes safety in human/robot interaction guaranteed. The design and modeling presented in this research will provide useful guidance in VSPP applications. A prototype gripper, VSPP-3, composed of three 2-segments VSPP fingers and pneumatic joints, has been built for demonstrations in reliable and robust grasping of daily objects. The sample grasping has shown that the proposed VSPP has great potential for a robust and durable soft robotic hand or gripper design.

Bio-inspired robotic dog paddling: kinematic and hydro-dynamic analysis.

Research on quadrupedal robots inspired by canids or felids have been widely reported and demonstrated. However, none of these legged robots can deal with difficult environments that include water, such as small lakes, streams, rain, mud, flooded terrain, etc. In this paper, we present for the first time a kinematic analysis and a hydrodynamic model of dog paddling motion in a robotic system. The quadrupedal paddling gait of dogs was first analyzed based on underwater video recording. Hydrodynamic drag force analysis in a paddling gait cycle was conducted for a prototype robotic dog. The prototype robotic dog was developed using four pre-charged pneumatics soft actuators with consideration of relative positions of CG (center of gravity) and CB (center of buoyancy) and their dynamic variation in paddling. It was found that such soft actuators have great potential in developing amphibious legged robots, because they are inherently water-tight, anti-rusty, simple in structural design, and have large hydrodynamic advantage due to their mostly hemi-cylindrical shape design. Trotting and paddling of the prototype robotic dog was also demonstrated. It is believed that our findings reported in this research will provide useful guidance in future development of amphibious robotic dogs.

Strontium/adiponectin co-decoration modulates the osteogenic activity of nano-morphologic polyetheretherketone implant.

Polyetheretherketone (PEEK)-based implants have become popular in hard tissue orthopedic and dental field. However, its inherent bio-inertness limited its applications for bone repair/substitution of osteoporosis patients, with poor osteogenesis capability. In order to ameliorate their bioactivity, the 3D porous PEEK substrate was created by sulfonate processing, and the substrate was subsequently incorporated with strontium (Sr) through a hydrothermal reaction in Sr(OH)2 solutions. The adiponectin (APN) protein membrane was deposited on the substrate via polydopamine-assisted deposition. Surface characterization results disclosed that the nanostructures had been formed on sPEEK-Sr-APN surafces, and APN coatings on the substrates could adjust Sr release rate and further mediate cell-material interactions. in vitro experiments indicated that the cellular effects (proliferation and differentiation) of MC3T3-E1 were significantly increased with Sr/APN coordinated regulation. This study provides bioactive Sr and APN as promising active components for bio-functional bone regeneration/substitution, and optimizes the osteointegration of PEEK implants in clinic.