RESUMEN
Electrohydraulic soft actuators are a promising soft actuation technology for constructing bio-inspired underwater robots owing to the features of this technology such as large deformations and forces, fast responses, and high electromechanical efficiencies. However, this actuation technology requires high voltages, thereby limiting the use of these actuators in water and hindering the development of underwater robots. This paper describes a method for creating bio-inspired underwater robots using silicone-layered electrohydraulic soft actuators. The silicone layer functions as an insulator, enabling the application of high voltages underwater. Moreover, bending and linear actuation can be achieved by applying the silicone layers on one or both sides of the actuator. As a proof of concept, bending and linear actuators with planar dimensions of 20 mm × 40 mm (length × width) are fabricated and characterized. Underwater actuation is observed in both types of actuators. The bending actuators exhibit a bending angle and blocked force of 39.0° and 9.6 mN, respectively, at an applied voltage of 10 kV. Further, the linear actuators show a contraction strain and blocked force of 6.6% and 956.1 mN, respectively, at an applied voltage of 10 kV. These actuators are tested at a depth near the surface of water. This ensured that they can operate at least at that depth. The actuators are subsequently used to implement various soft robotic devices such as a ray robot, a fish robot, a water-surface sliding robot, and a gripper. All of the robots exhibit movements as expected; up to 31.2 mm/s (0.91 body length/s) of locomotion speed is achieved by the swimming robots and a retrieve and place task is performed by the gripper. The results obtained in this study indicate the successful implementation of the actuator concept and its high potential for constructing bio-inspired underwater robots and soft robotics applications.
RESUMEN
l-3,4-Dihydroxyphenylalanine (l-DOPA) has been believed to be an inert amino acid precursor of dopamine, and is the most effective therapeutic agent in Parkinson's disease (PD). We proposed l-DOPA as a neurotransmitter in the central nervous system. Recently, the ocular albinism 1 gene product, OA1/GPR143 (GPR143), was identified as a receptor for l-DOPA. In this study, we examined by generating anti-human GPR143 antibody, the localization of GPR143-immunoreactive signals in the brains from control and PD subjects. GPR143-immunoreactive signals were detected throughout the entire midbrain including substantia nigra pars compacta. In the PD brains, we found that GPR143-immunoreactive signals were detected in Lewy bodies and were colocalized with immunoreactive signals with anti-human Ser129 phosphorylated α-synuclein antibody. Although the significance of its occurrence in the inclusion bodies is unknown, our finding suggests possible implications of GPR143 in PD.