Dual-Responsive MnO2-Loaded Carbonaceous Nanobottle Motors Fabricated by Interfacial Superassembly for On-The-Fly MicroRNA Sensing.

Diverse nanomotors with advanced motion manipulation have been proposed to revolutionize the way problems in many fields are solved. However, rational and controllable synthetic methods of multifunctional nanomotor are still limited. Herein, dual-responsive MnO2-loaded carbonaceous nanobottle motors (MnO2 NBMs) are developed through an interfacial superassembly strategy. Asymmetric carbonaceous nanobottles are first synthesized, and the reductive carbonaceous shell induces an oxidation-reduction reaction with KMnO4 for in-situ growth of MnO2 nanosheets, which enables the nanomotor to perform either self-diffusiophoretic or self-thermophoretic motion in response to H2O2 and near-infrared light, respectively. Inspired by bioaffinity sensing, the nanomotors are sequentially assembled with functional nanoparticles and hairpin DNA to construct swimming functional MnO2 NBMs (MnO2 FNBMs) probes. The probes can move around complex samples to improve target miRNA transport and accelerate receptor-target interaction. Coupling with the photocurrent-signal amplification, the self-assembly of photoelectrochemical (PEC) biosensors has been achieved for sensitive microRNA detection. Trace amounts of miRNA-155 can be quickly detected with a wide detection range (100 fM to 100 nM). Moreover, the direct detection of microRNA in tumor cell lysates by the biosensor is demonstrated. Given the merits of automation and miniaturization, the proposed strategy provides a promising method for fast and effective self-assembly of biosensors.

Menthyl acetate powered self-propelled Janus sponge Marangoni motors with self-maintaining surface tension gradients and active mixing.

HYPOTHESIS: Small scale Marangoni motors, which self-generate motion by inducing surface tension gradients on water interfaces through release of surface-active "fuels", have recently been proposed as self-powered mixing devices for low volume fluids. Such devices however, often show self-limiting lifespans due to the rapid saturation of surface-active agents. A potential solution to this is the use volatile surface-active agents which do not persist in their environment. Here we investigate menthyl acetate (MA) as a safe, inexpensive and non-persistent fuel for Marangoni motors. EXPERIMENTS: MA was loaded asymmetrically into millimeter scale silicone sponges. Menthyl acetate reacts slowly with water to produce the volatile surface-active menthol, which induces surface tension gradients across the sponge to drive motion by the Marangoni effect. Videos were taken and trajectories determined by custom software. Mixing was assessed by the ability of Marangoni motors to homogenize milliliter scale aqueous solutions containing colloidal sediments. FINDINGS: Marangoni motors, loaded with asymmetric "Janus" distributions of menthyl acetate show velocities and rotational speeds up to 30 mm s-1 and 500 RPM respectively, with their functional lifetimes scaling linearly with fuel volume. We show these devices are capable of enhanced mixing of solutions at orders of magnitude greater rates than diffusion alone.

Patterns of change in propulsion force and late braking force in patients with stroke walking at comfortable and fast speeds.

Increased propulsion force (PF) in the paretic limb is associated with improved walking speed in patients with stroke. However, late braking force (LBF), an additional braking force occurring between PF onset and toe-off, is present in a subset of stroke patients. Few studies have investigated the changes in LBF and walking speed in these patients. This study aimed to elucidate the patterns of change in PF and LBF during fast gait in hemiplegics and identify potential compensatory strategies based on the LBF patterns. Data from 100 patients with stroke walking at both comfortable (mean, 0.79 ± 024 m/s) and fast speeds (mean, 1.06 ± 0.35 m/s) were analyzed retrospectively stroke using a 3D motion analyzer. PF was higher during fast-speed walking than that during comfortable-speed walking in all patients, while LBF showed both decreasing and increasing trends during fast-speed walking. In the LBF increasing pattern, a reduction in in-phase coordination of the shank and foot during the pre-swing phase was observed, along with an increase in pelvic hike during fast-speed walking compared to those in the decreasing LBF pattern. Our findings demonstrate that alterations in LBF patterns are associated with gait deviations in patients with stroke at fast speeds.

Individual joint contributions to forward propulsion are not related to stability during walking in young or older adults.

BACKGROUND: Older adults are less stable and walk slower than younger adults, both of which are associated with higher fall risk. Older adults use ankle musculature less and rely more on hip contributions for forward propulsion than younger adults, which has been suggested to be a protective walking strategy to increase stability. However, whether distal-to-proximal redistribution of propulsion and dynamic margin of stability are related has not been determined. OBJECTIVES: To determine whether the distal-to-proximal redistribution of propulsion (redistribution ratio) is related to margin of stability during preferred walking conditions. METHODS: 89 participants were classified as either young adults, high functioning older adults, or low functioning older adults. Participants completed walking trials at their preferred walking pace overground. From these trials, anterior-posterior margin of stability and mediolateral margin of stability at heelstrike, midstance, and toe-off, for each gait cycle were computed, alongside a redistribution ratio. RESULTS: Lower functioning older adults exhibited an increased reliance on hip musculature for forward propulsion compared with younger and high-functioning older adults, in addition to greater mediolateral margins of stability. Accounting for group and walking speed, a proximal shift in individual joint contributions to propulsion was associated with increased mediolateral margin of stability at heelstrike, midstance, and toe-off; and not with any changes in anteroposterior margins of stability. SIGNIFICANCE: Our results suggest prioritizing mediolateral stability is a potential explanation for, or consequence, of the age- and function-related shift toward proximal joint contributions to forward propulsion during walking.

Steerable ultrasonic propulsion of rigid objects based on circular pressure modulation of a focused sectorial transducer array.

As a common disease of human urinary system, the high prevalence and incidence rate of renal calculus have brought heavy burden to society. Traditional ultrasonic lithotripsy struggles with the comprehensive elimination of residual fragments and may inadvertently inflict renal damage. Although focused ultrasound can propel stones by the acoustic radiation force (ARF) with minimal tissue damage and enhanced passage rate, it is still lack of the accurate control for calculi at different locations. A circular pressure modulation approach for steerable ultrasonic propulsion of rigid objects is developed based on a sector-array of focused transducers. The ARF exerted on on-axis rigid spheres (stones) is derived based on acoustic scattering. It is proved that the ARF of focused fields exhibits an axial distribution of increasing followed by decreasing with the peak slightly beyond the focus. As the sphere radius increases, the ARF exerted on spheres at the focus increases accordingly with a decreasing growth rate. Inclined propulsion can be realized by the circular binary pressure modulation with the deflection increased by expanding the angle of power-off sector sources. The maximum deflection angle approaching 60° is determined by the F-number and element number of the sector-array. Experimental propulsions of steel balls are conducted using an 8-element sector-array with motion trajectories captured by a high-speed camera. Distributions of the motion speed and acceleration for steel balls of different radii are calculated through image processing. The ARF of mN level and the deflection angle of 12° are demonstrated by the successful propulsion of steel balls. This research provides an effective and flexible approach of steerable stone propulsion using an ultrasonic power supply without the complex control in amplitude or phase and the high-precision motion of the sector-array, hence promoting the practical application in non-invasive treatment of stones.

Using Reinforcement Learning to Develop a Novel Gait for a Bio-Robotic California Sea Lion.

While researchers have made notable progress in bio-inspired swimming robot development, a persistent challenge lies in creating propulsive gaits tailored to these robotic systems. The California sea lion achieves its robust swimming abilities through a careful coordination of foreflippers and body segments. In this paper, reinforcement learning (RL) was used to develop a novel sea lion foreflipper gait for a bio-robotic swimmer using a numerically modelled computational representation of the robot. This model integration enabled reinforcement learning to develop desired swimming gaits in the challenging underwater domain. The novel RL gait outperformed the characteristic sea lion foreflipper gait in the simulated underwater domain. When applied to the real-world robot, the RL constructed novel gait performed as well as or better than the characteristic sea lion gait in many factors. This work shows the potential for using complimentary bio-robotic and numerical models with reinforcement learning to enable the development of effective gaits and maneuvers for underwater swimming vehicles.

Acidity-Actuated Polymer/Calcium Phosphate Hybrid Nanomotor (PCaPmotor) for Penetrating Drug Delivery and Synergistic Anticancer Immunotherapy.

Tumor acidity-driven nanomotors may offer robust propulsion for tumor-specific penetrating drug delivery. Herein, an acidity-actuated poly(amino acid) calcium phosphate (CaP) hybrid nanomotor (PCaPmotor) was designed, using a mPEG-PAsp-PPhe@THZ531 micelle (Poly@THZ) for CaP mineralization accompanied by αPD-L1 antibody encapsulation. Dissolution of the CaP layer in an acidic tumor environment gave off heat energy to propel the nanomotor to augment the cellular uptake and penetration into deeply seated cancer cells while facilitating αPD-L1 release. THZ531 delivered by the PCaPmotor inhibited CDK12 and its down-streamed phosphorylation of RNAP-II to increase the cancer immunogenicity events such as the DNA damage, cell apoptosis, immunogenic cell death, lysosomal function disturbance, and MHC-I upregulation. THZ531 and αPD-L1 cosupplied by PCaPmotor significantly increased the frequency of DCs maturation and intratumoral infiltration of CTLs, but the two free drugs did not. Consequently, the PCaP@THZ/αPD-L1 nanomotor resulted in synergistic anticancer immunotherapy in mice. This acid-actuated PCaPmotor represented a new paradigm for penetrating drug delivery.

Relationships between sprint skating performance and insole plantar forces in national-level hockey athletes.

BACKGROUND: Sprint skating is essential for competitive success in hockey. Previous studies have highlighted various measures of lower-body strength and power as key factors influencing sprint performance. However, while these studies have indicated a significant association between the ability to exert greater force and impulse into the ice surface, and the capacity to achieve faster sprint skating speeds, the direct relationship between these factors remains largely inferred. RESEARCH QUESTION: What are the relationships between insole plantar force variables, sprint skating performance, and their association with physical capacity measures, in national-level male hockey athletes? METHODS: Athletes (n=13) performed 25 m sprint skating trials with insole force sensors and completed: ankle dorsiflexion and hip abduction range-of-motion (ROM), countermovement jump (CMJ), seated single-leg jump, and 10-5 repeated-hop test (RHT) assessments. RESULTS: Relationships were assessed using Kendall's Tau rank correlations (τ), with significant relationships identified between mean relative weight acceptance impulse [WAI] and 0-5 m (τ=0.47) and total distance (τ=0.46) times. Additionally, significant associations were observed between mean relative WAI and: CMJ relative eccentric deceleration impulse (τ=0.44), CMJ eccentric peak velocity (τ=-0.46) and RHT concentric impulse (τ=-0.56). Finally, significant relationships were identified between mean relative PI for all strides and the 10-20 m split, with peak velocity (PV) (τ=-0.58 to -0.73); and between ankle dorsiflexion ROM and PV (τ=-0.57). SIGNIFICANCE: Athletes with faster initial acceleration and overall sprint performance times demonstrated lower relative WAI during their strides and employed a jump strategy that optimized concentric impulse with a rapid eccentric phase. To attain a high PV the athletes appeared to require a stride that maximized glide and minimized vertical force, with greater ankle dorsiflexion ROM potentially facilitating this.

Direct measurement of self-diffusiophoretic force generated by active colloids of different patch coverage using optical tweezers.

HYPOTHESIS: Synthetic micro/nanomotors are gaining extensive attention for various biomedical applications (especially in drug delivery) due to their ability to mimic the motion of biological micro/nanoscale swimmers. The feasibility of these applications relies on tight control of propulsion speed, direction, and type of motion (translation, circular, etc.) along with the exerted self-propulsive force. We propose to exploit the variation of both self-propulsion speed and force of active colloids with different patch coverages (with and without supporting layer) for engineering diffusiophoretic micro/nanomotors. EXPERIMENTS: The microswimmers were designed at various patch coverages (10°, 30°, and 90°) with (Ti/Pt) and without (Pt) an adhesion layer for the catalytic patch through glancing angle metal deposition (GLAD) technique. Mean-square displacement (MSD) analysis was performed to obtain the self-propulsion parameters like speed and angular speed. Using optical tweezers (OT), the self-propulsive force was measured from the force power spectral density. FINDINGS: The findings of our experiments suggest the non-requirement of any adhesion layer preceding the catalyst deposition since the Pt 10° colloidal batch had the maximal self-propulsion speed (4.61±0.3µm/s) and force (345±57fN) for 5% w/v H2O2 fuel concentration. Moreover, the self-propulsion speed and force decreased with increasing patch size, contrary to theoretical estimates. Also, the self-propulsive force obtained from MSD is 2 to 4 times lower in magnitude than the OT based force values. We believe that the self-propelling motion of the micromotors is possibly hindered due to interactions with the surface of the quartz cuvette during the optical microscopic analysis. Further, the MSD is limited to the self-propulsive motion in two dimensions. On the other hand, OT based force measurement involve trapping the particles in the bulk of the solution entirely avoiding the particle-substrate interactions. Hence, OT based force measurements are better than the propulsion velocity based stokes drag force estimates. We believe that this study can lay the foundation in designing efficient micro/nanomotors for translational biomedical applications.

Untethered soft magnetic pump for microfluidics-based Marangoni surfer.

Microfluidics has enabled the miniaturization of fluidic systems for various biomedical and industrial applications, including small-scale robotic propulsion. One mechanism for generating propulsive force through microfluidics is by exploiting the solutal Marangoni effect via releasing surfactant on the air-water interface. Surfactants locally reduce the surface tension, which leads to a surface stress that can propel the floating robot, called Marangoni surfer. However, so far the release of the surfactant is not controllable. In this study, we combine microfluidics-based Marangoni propulsion with a novel untethered magnetic pumping mechanism to enhance its controllability. The proposed magnetic micropump capitalizes on the interaction force between two soft magnets, which can generate a pumping force of 4.64 mN to actuate a membrane, and achieve a deformation of 450 µm. Net flow is achieved using a nozzle/diffuser flow rectifier whose efficacy as a function of the channel geometry is numerically studied. We investigate the flow rate of the pump with regard to the actuation frequency. Finally, we demonstrate its ability to control the motion of the Marangoni surfer.

A Propulsion Neuroprosthesis Improves Overground Walking in Community-Dwelling Individuals After Stroke.

Functional electrical stimulation (FES) is a common neuromotor intervention whereby electrically evoked dorsiflexor muscle contractions assist foot clearance during walking. Plantarflexor neurostimulation has recently emerged to assist and retrain gait propulsion; however, safe and effective coordination of dorsiflexor and plantarflexor neurostimulation during overground walking has been elusive, restricting propulsion neuroprostheses to harnessed treadmill walking. We present an overground propulsion neuroprosthesis that adaptively coordinates, on a step-by-step basis, neurostimulation to the dorsiflexors and plantarflexors. In 10 individuals post-stroke, we evaluate the immediate effects of plantarflexor neurostimulation delivered with different onset timings, and retention to unassisted walking (NCT06459401). Preferred onset timing differed across individuals. Individualized tuning resulted in a significant 10% increase in paretic propulsion peak (Δ: 1.41 ± 1.52%BW) and an 8% increase in paretic plantarflexor power (Δ: 0.27 ± 0.23 W/kg), compared to unassisted walking. Post-session unassisted walking speed, paretic propulsion peak, and propulsion symmetry all significantly improved by 9% (0.14 ± 0.09 m/s), 28% (2.24 ± 3.00%BW), and 12% (4.5 ± 6.0%), respectively, compared to pre-session measurements. Here we show that an overground propulsion neuroprosthesis can improve overground walking speed and propulsion symmetry in the chronic phase of stroke recovery. Future studies should include a control group to examine the efficacy of gait training augmented by the propulsion neuroprosthesis compared to gait training alone.

Field-Directed Motion, Cargo Capture, and Closed-Loop Controlled Navigation of Microellipsoids.

Microrobots have the potential for diverse applications, including targeted drug delivery and minimally invasive surgery. Despite advancements in microrobot design and actuation strategies, achieving precise control over their motion remains challenging due to the dominance of viscous drag, system disturbances, physicochemical heterogeneities, and stochastic Brownian forces. Here, a precise control over the interfacial motion of model microellipsoids is demonstrated using time-varying rotating magnetic fields. The impacts of microellipsoid aspect ratio, field characteristics, and magnetic properties of the medium and the particle on the motion are investigated. The role of mobile micro-vortices generated is highlighted by rotating microellipsoids in capturing, transporting, and releasing cargo objects. Furthermore, an approach is presented for controlled navigation through mazes based on real-time particle and obstacle sensing, path planning, and magnetic field actuation without human intervention. The study introduces a mechanism of directing motion of microparticles using rotating magnetic fields, and a control scheme for precise navigation and delivery of micron-sized cargo using simple microellipsoids as microbots.

Inertial measurement unit-based real-time feedback gait immediately changes gait parameters in older inpatients: a pilot study.

The effect of gait feedback training for older people remains unclear, and such training methods have not been adapted in clinical settings. This study aimed to examine whether inertial measurement unit (IMU)-based real-time feedback gait for older inpatients immediately changes gait parameters. Seven older inpatients (mean age: 76.0 years) performed three types of 60-s gait trials with real-time feedback in each of the following categories: walking spontaneously (no feedback trial); focused on increasing the ankle plantarflexion angle during late stance (ankle trial); and focused on increasing the leg extension angle, which is defined by the location of the ankle joint relative to the hip joint in the sagittal plane, during late stance (leg trial). Tilt angles and accelerations of the pelvis and lower limb segments were measured using seven IMUs in pre- and post-feedback trials. To examine the immediate effects of IMU-based real-time feedback gait, multiple comparisons of the change in gait parameters were conducted. Real-time feedback increased gait speed, but it did not significantly differ in the control (p = 0.176), ankle (p = 0.237), and leg trials (p = 0.398). Step length was significantly increased after the ankle trial (p = 0.043, r = 0.77: large effect size). Regarding changes in gait kinematics, the leg trial increased leg extension angle compared to the no feedback trial (p = 0.048, r = 0.77: large effect size). IMU-based real-time feedback gait changed gait kinematics immediately, and this suggests the feasibility of a clinical application for overground gait training in older people.

Effect of inlet elbow on rotation stall in waterjet propulsion pump.

To study the influence of an elbow inlet on the rotating stall characteristics of a waterjet propulsion pump (WJPP), a three-dimensional internal flow field in a WJPP under a straight-pipe inlet and elbow inlet is numerically simulated. By comparing the hydraulic performance of WJPP under the two inlet conditions, the internal relationship between the inlet mode and the flow pattern in the pump is clarified. Based on unsteady pressure fluctuation characteristics and wavelet analysis, the influence of the inlet mode on the rotating stall is revealed, and the stall transient propagation characteristics under critical stall conditions are analyzed. The disturbance effects of the inlet channel geometry disappear under low flow rate conditions, the main disturbance is induced by the high-speed countercurrent, and the flow pattern under the elbow inlet is better than that under the straight-pipe inlet. Under the straight-pipe inlet, the single-stall nucleus in the WJPP temporarily experiences a low-frequency and high-amplitude disturbance, which subsequently transforms into a mode of multi-stall nuclei with high-frequency circumferential disturbance. Under the elbow inlet, the rotating stall always maintains a mode of high-amplitude and low-frequency disturbance, which represents the transient characteristics of a single stall core propagating in the circumferential direction inside the channel. The results of this study have a reference value for structural design optimization in a WJPP.

Orbits, Spirals, and Trapped States: Dynamics of a Phoretic Janus Particle in a Radial Concentration Gradient.

A long-standing goal in colloidal active matter is to understand how gradients in fuel concentration influence the motion of phoretic Janus particles. Here, we present a theoretical description of the motion of a spherical phoretic Janus particle in the presence of a radial gradient of the chemical solute driving self-propulsion. Radial gradients are a geometry relevant to many scenarios in active matter systems and naturally arise due to the presence of a point source or sink of fuel. We derive an analytical solution for the Janus particle's velocity and quantify the influence of the radial concentration gradient on the particle's trajectory. Compared to a phoretic Janus particle in a linear gradient in fuel concentration, we uncover a much richer set of dynamic behaviors including circular orbits and trapped stationary states. We identify the ratio of the phoretic mobilities between the two domains of the Janus particle as a central quantity in tuning their dynamics. Our results provide a path for developing optimum protocols for tuning the dynamics of phoretic Janus particles and mixing fluid at the microscale. In addition, this work suggests a method for quantifying the surface properties of phoretic Janus particles, which have proven to be challenging to probe experimentally.

Polymer colloidal motors with photodynamic-regulated propulsion.

Artificial colloidal motors capable of converting various external energy into mechanical motion, have emerged as attractive photosensitizer (PS) nanocarriers with good deliverability for photodynamic therapy. However, photoactivated 3O2-to-1O2 transformation as the most crucial energy transfer of the photodynamic process itself is still challenging to convert into autonomous transport. Herein, we report on PS-loaded thiophane-containing semiconducting conjugated polymer (SCP)-based polymer colloidal motors with asymmetric geometry for photodynamic-regulated propulsion in the liquid. The asymmetrical presence of the SCP phases within the colloidal motors would lead to significant differences in the 3O2-to-1O2 transformation and 1O2 release manners between asymmetrical polymer phases, spontaneously creating asymmetrical osmotic pressure gradients across the nanoparticles for powering the self-propelled motion under photodynamic regulation. This photoactivated energy-converting behavior can be also combined with the photothermal conversion of the SCP phases to create two energy gradients exerting diffusiophoretic/thermophoretic force on the colloidal motors for achieving multimode synergistic propulsion. This unique motile feature endows the light-driven PS nanocarriers with good permeability against various physiological barriers in the tumor microenvironment for enhancing antitumor efficacy, showing great potential in phototherapy.

The effect of impaired unilateral ankle propulsion on contralateral knee joint loading.

BACKGROUND: Impairments in unilateral ankle propulsion may result from restriction by an external device or pathology such as lower limb amputation. Models of gait suggest this reduction may lead to increased collisional force on the contralateral side, potentially increasing force through the knee and increasing the risk of knee pain or osteoarthritis. RESEARCH QUESTION: How do restrictions in unilateral ankle propulsive force affect contralateral knee joint loading in otherwise healthy individuals? METHODS: 18 individuals without impairment walked on a treadmill at 1.5 m/s for two conditions: one free of restrictions, and one where a randomized limb's ankle propulsive force was restricted using an off-the-shelf ankle-foot orthosis (AFO). Ankle propulsive power, lower extremity joint work, and ground reaction force variables were calculated for the final 3 gait cycles of each condition. Tibiofemoral joint contact force (TJCF) for the limb contralateral to the AFO was calculated through a standard OpenSim workflow utilizing the gait2392 model. Intra-limb pair-wise comparisons were made between conditions. RESULTS: Compared to walking unrestricted, the limb wearing the AFO demonstrated a significant reduction in peak ankle propulsive power and positive ankle work by approximately 50 % each (p<0.01). With ankle restriction, the ipsilateral knee significantly increased positive work (p<0.01). The overall propulsion produced by that limb did not change between conditions, demonstrated by a lack of change in anterior ground reaction force impulse (p=0.11). The knee of the limb contralateral to the AFO did not display differences in any TJCF variable between conditions (all p>0.07). SIGNIFICANCE: These results suggest a unilateral deficit in ankle propulsion will not increase contralateral knee joint forces in individuals who are able to use other joints of the limb to compensate for the loss of ankle function. However, further research should investigate this relationship in those who display pathologies that may prevent more proximal compensations.

All-Aqueous Soft Milli-swimmers.

Microscale swimmers are attractive for targeted drug delivery, noninvasive microsurgery and environmental remediation at different length scales, among which, Marangoni-based swimmers have garnered considerable attention due to their independence of external energy supply. However, applications of most existing chemical swimmers are limited by complex fabrication, high cost, utilization of organic (or even toxic) solvents, poor motility performance, and lack of controllability. To address these challenges, we propose an approach for all-aqueous soft milli-swimmers that utilizes biodegradable hydrogels and biocompatible fuels. This innovative method achieves swimmer body generation and fuel loading in one step by simply dripping one aqueous solution into another, saving fabrication time and minimizing fuel loss during transfer. These all-aqueous soft milli-swimmers have rove beetle-like self-propulsion, which stores low-surface-energy compounds within their body for propulsion on liquid surfaces. Isotropic and anisotropic all-aqueous soft milli-swimmers are formed with precise control over their dimension, morphology, and movement velocity. Through their motion within engineered channels, intricate labyrinths, dynamic air-liquid interfaces, and collective self-assemblies, their remarkable adaptability in complex aqueous environments is demonstrated. Furthermore, the integration of functional nanoparticles endows these all-aqueous milli-swimmers with multifunctionality, expanding their applications in cargo transportation, sensing, and environmental remediation.

Bacterial outer membrane vesicle nanorobot.

Autonomous nanorobots represent an advanced tool for precision therapy to improve therapeutic efficacy. However, current nanorobotic designs primarily rely on inorganic materials with compromised biocompatibility and limited biological functions. Here, we introduce enzyme-powered bacterial outer membrane vesicle (OMV) nanorobots. The immobilized urease on the OMV membrane catalyzes the decomposition of bioavailable urea, generating effective propulsion for nanorobots. This OMV nanorobot preserves the unique features of OMVs, including intrinsic biocompatibility, immunogenicity, versatile surface bioengineering for desired biofunctionalities, capability of cargo loading and protection. We present OMV-based nanorobots designed for effective tumor therapy by leveraging the membrane properties of OMVs. These involve surface bioengineering of robotic body with cell-penetrating peptide for tumor targeting and penetration, which is further enhanced by active propulsion of nanorobots. Additionally, OMV nanorobots can effectively safeguard the loaded gene silencing tool, small interfering RNA (siRNA), from enzymatic degradation. Through systematic in vitro and in vivo studies using a rodent model, we demonstrate that these OMV nanorobots substantially enhanced siRNA delivery and immune stimulation, resulting in the utmost effectiveness in tumor suppression when juxtaposed with static groups, particularly evident in the orthotopic bladder tumor model. This OMV nanorobot opens an inspiring avenue to design advanced medical robots with expanded versatility and adaptability, broadening their operation scope in practical biomedical domains.

Bio-inspired compensatory strategies for damage to flapping robotic propulsors.

Natural swimmers and flyers can fully recover from catastrophic propulsor damage by altering stroke mechanics: some fish can lose even 76% of their propulsive surface without loss of thrust. We consider applying these principles to enable robotic flapping propulsors to autonomously repair functionality. However, direct transference of these alterations from an organism to a robotic flapping propulsor may be suboptimal owing to irrelevant evolutionary pressures. Instead, we use machine learning techniques to compare these alterations with those optimal for a robotic system. We implement an online artificial evolution with hardware-in-the-loop, performing experimental evaluations with a flexible plate. To recoup thrust, the learned strategy increased amplitude, frequency and angle of attack (AOA) amplitude, and phase-shifted AOA by approximately 110°. Only amplitude increase is reported by most fish literature. When recovering side force, we find that force direction is correlated with AOA. No clear amplitude or frequency trend is found, whereas frequency increases in most insect literature. These results suggest that how mechanical flapping propulsors most efficiently adjust to damage may not align with natural swimmers and flyers.