Biohybrid tensegrity actuator driven by selective contractions of multiple skeletal muscle tissues.

Biohybrid robots are robots composed of both biological and artificial materials that can exhibit the unique characteristics commonly found in living organisms. Skeletal muscle tissues can be utilized as their actuators due to their flexibility and ON/OFF controllability, but previous muscle-driven robots have been limited to one-degree of freedom (DOF) or planar motions due to their design. To overcome this limitation, we propose a biohybrid actuator with a tensegrity structure that enables multiple muscle tissues to be arranged in a 3D configuration with balanced tension. By using muscle tissues as tension members of tensegrity structure, the contraction of muscle tissues can cause the movement of the actuator in multiple-DOFs. We demonstrate the fabrication of the biohybrid tensegrity actuator by attaching three cultured skeletal muscle tissue made from C2C12 cells and fibrin-based hydrogel to an actuator skeleton using a snap-fit mechanism. When we applied an electric field of more than 4 V mm-1to the skeletal muscle tissue, the fabricated actuator had a structure to tilt in multiple directions through the selective displacement of about 0.5 mm in a specific direction caused by the contractions of muscle tissue, resulting in 3D multi-DOF tilting motion. We also show that the actuator possesses superior characteristics of tensegrity structure such as stability and robustness by assessing the response of the actuator to external force. This biohybrid tensegrity actuator provides a useful platform for the development of muscle-driven biohybrid robots with complex and flexible movements.

A rare case of hyperostosis frontalis interna in an 86-year-old Japanese female cadaver.

Hyperostosis frontalis interna (HFI) is a condition characterized by abnormal bone outgrowth on the inner surface of the frontal bone. Most HFI cases occur in post-menopausal elderly women. The pathology of HFI development is uncertain. The estimated incidence of HFI ranges from 5 to 12% in Western countries, but few cases have been reported in the Japanese population. Here, we report a case of HFI in an 86-year-old Japanese female cadaver. Macroscopically, the internal surface of the frontal bone exhibited bilateral nodular protrusion with sparing of the midline, while the external surface was normal. According to the morphological classification of HFI proposed by Hershkovitz et al. this case belongs to type D, the most severe type. Using computed tomography (CT), we defined five layers, designated as I-V from the inner to the outer layer, in the nodular region of HFI; however, the normal frontal bone is composed of three layers. Histological results demonstrated that layers I, III, and V consisted of the cortical bone, and layers II and IV consisted of the trabecular bone. We also observed increases in the numbers of lamellar bone and blood vessels on the dural side of layer I, indicating increased vascularization and active osteogenesis. These results indicate that layer II represents a new diploe within the inner table, which split into layers I and III, suggesting that diploization within the inner table by activated remodeling may be involved in the development of hyperostosis in this case.