Spring and latch dynamics can act as control pathways in ultrafast systems

A new ultrafast movement enables escape at low temperature

Escape is a life critical defensive behaviour. One potential escape strategy is using ultrafast movements to relocate quickly. These movements do not rely solely on muscle activation and are beneficial for ectotherms at low temperatures when muscle performance is constrained. However, the functional significance of ultrafast motions is often assumed. Here, we show with high-speed videos that Astraeus jewel beetles (Buprestidae) rapidly open their elytra to flick themselves into the air and the movement is of comparable speed to other known ultrafast movements. Our calculations indicate that it is likely a power-amplified mechanism. Behavioural trials and thermal imaging demonstrate that Astraeus beetles can flick at >15°C lower body temperatures than walking or flying, suggesting that the behaviour could provide a significant survival advantage at low ambient temperatures. Taken together, we reveal a novel ultrafast movement and show its potential functional value in escape.

Design and control of jumping microrobots with torque reversal latches

Jumping microrobots and insects power their impressive leaps through systems of springs and latches. Using springs and latches, rather than motors or muscles, as actuators to power jumps imposes new challenges on controlling the performance of the jump. In this paper, we show how tuning the motor and spring relative to one another in a torque reversal latch can lead to an ability to control jump output, producing either tuneable (variable) or stereotyped jumps. We develop and utilize a simple mathematical model to explore the underlying design, dynamics, and control of a torque reversal mechanism, provides the opportunity to achieve different outcomes through the interaction between geometry, spring properties, and motor voltage. We relate system design and control parameters to performance to guide the design of torque reversal mechanisms for either variable or stereotyped jump performance. We then build a small (356 mg) microrobot and characterize the constituent components (e.g. motor and spring). Through tuning the actuator and spring relative to the geometry of the torque reversal mechanism, we demonstrate that we can achieve jumping microrobots that both jump with different take-off velocities given the actuator input (variable jumping), and those that jump with nearly the same take-off velocity with actuator input (stereotyped jumping). The coupling between spring characteristics and geometry in this system has benefits for resource-limited microrobots, and our work highlights design combinations that have synergistic impacts on output, compared to others that constrain it. This work will guide new design principles for enabling control in resource-limited jumping microrobots.

The effects of temperature on elastic energy storage and release in a system with a dynamic mechanical advantage latch

Changes in temperature alter muscle kinetics and in turn affect whole-organism performance. Some organisms use the elastic recoil of biological springs, structures which are far less temperature sensitive, to power thermally robust movements. For jumping frogs, the use of elastic energy in tendons is facilitated through a geometric latching mechanism that operates through dynamic changes in the mechanical advantage (MA) of the hindlimb. Despite the well-documented use of elastic energy storage, frog jumping is a locomotor behavior that is significantly affected by changes in temperature. Here, we used an in vitro muscle preparation interacting in real time with an in silico model of a legged jumper to understand how changes in temperature affect the flow of energy in a system using a MA latch. We used the plantaris longus muscle-tendon unit (MTU) to power a virtual limb with changing MA and a mass being accelerated through a real-time feedback controller. We quantified the amount of energy stored in and recovered from elastic structures and the additional contribution of direct muscle work after unlatching. We found that temperature altered the duration of the energy loading and recovery phase of the in vitro/in silico experiments. We found that the early phase of loading was insensitive to changes in temperature. However, an increase in temperature did increase the rate of force development, which in turn allowed for increased energy storage in the second phase of loading. We also found that the contribution of direct muscle work after unlatching was substantial and increased significantly with temperature. Our results show that the thermal robustness achieved by an elastic mechanism depends strongly on the nature of the latch that mediates energy flow, and that the relative contribution of elastic and direct muscle energy likely shapes the thermal sensitivity of locomotor systems.

A study of a bio-inspired impact resistant carbon fiber laminate with a sinusoidal helicoidal structure in the mandibles of trap-jaw ants

The majority of living organisms demonstrate remarkable attributes and have evolved effective mechanisms for synthesizing impact-resistant and damage-tolerant structures. One exemplary instance is the rapid mandible strikes exhibited by trap-jaw ants, which are a highly aggressive species of terrestrial social organisms. An impact-resistant sinusoidal helicoidal architecture is discovered in the mandibles of trap-jaw ants. The bioinspired laminate with a bi-sinusoidal helicoidal structure was manufactured using unidirectional carbon fiber prepreg by mold press forming. This study examines the impact resistance and damage tolerance of a bionic laminate through low velocity impact, computed tomography, and compression after impact tests. The results demonstrate that bionic laminates effectively limit damage propagation within the plane while enhancing energy dissipation capacity. The sinusoidal helicoidal configuration enhances cushioning capability against impact forces, retards penetration under higher loads, hinders crack propagation, and improves residual strength. Bionic laminates provide a valuable solution for damage tolerance through the resistance to through-the-thickness loads. STATEMENT OF SIGNIFICANCE: Helicoidal and sinusoidal helicoidal microstructures have been identified in the cross-section of the jaws of trap-jaw ants. The multiple waviness ratio parameters are designed for fabricating a sinusoidal helicoidal structure laminate using unidirectional carbon fiber prepreg through the mold press forming technique. This results in a damage-tolerant mechanism characterized by reduced delamination damage, which leads to a stiffer mechanical response. Meanwhile, it enhances resistance to crack propagation, leading to the formation of discontinuous delamination areas and the accumulation of sub-critical failures. Additionally, the sinusoidal helicoidal structure laminate combines the cushioning performance of bi-sinusoidal arrangements with the enhanced impact resistance of helical arrangements. This design delays penetration at higher loads, resulting in increased residual strength.

Controlling jumps through latches in small jumping robots

Small jumping robots can use springs to maximize jump performance, but they are typically not able to control the height of each jump owing to design constraints. This study explores the use of the jumper's latch, the component that mediates the release of energy stored in the spring, as a tool for controlling jumps. A reduced-order model that considers the dynamics of the actuator pulling the latch and the effect of spring force on the latch is presented. This model is then validated using high speed video and ground reaction force measurements from a 4gjumper. Both the model and experimental results demonstrate that jump performance in small insect-inspired resource-constrained robots can be tuned to a range of outputs using latch mediation, despite starting with a fixed spring potential energy. For a fixed set of input voltages to the latch actuator, the results also show that a jumper with a larger latch radius has greater tunability. However, this greater tunability comes with a trade-off in maximum performance. Finally, we define a new metric, 'Tunability Range,' to capture the range of controllable jump behaviors that a jumper with a fixed spring compression can attain given a set of control inputs (i.e. latch actuation voltage) to choose from.

Development of an impulsive motion generator inspired by cocking slip joint of snapping shrimp

We propose an impulsive motion generator inspired by snapping shrimp. The proposed device mimics the geometrical arrangement of a unique claw joint calledcocking slip jointand integrates it with an artificial rack-pinion actuator mechanism rather than adopting the musculoskeletal system as it is. The design approach allows the proposed device to reproduce the impulsive slip motion through the torque reversal and unlatching mechanism of the underlying unique joint by using a single servo motor. Static and dynamic analyses revealed that the actuator force required to store and release elastic energy was remarkably small compared with the resulting acceleration force and rotation/tip speed. Through simulations and experiments, we validated the mechanical analyses and confirmed that the resulting ultrafast slip motion was comparable with the claw closure of snapping shrimp based on the cocking slip joint. Moreover, from an engineering perspective, the motion profiles are modifiable through design parameters, and the repeatability of the impulsive slip motion is satisfactory.

Investigation of bionic composite laminates inspired by the natural impact-resistant helicoidal structure in the mandibles of trap-jaw ants

Many living organisms exhibit exceptional capabilities and have evolved effective strategies to synthesize impact-resistant and damage-tolerant structures. One such example can be observed in the rapid mandible strikes ofOdontomachus monticola, a species of trap-jaw ants from the ponerine subfamily. During trap-jaw strikes, the mandibles can achieve peak speeds of 35.42 m s-1, and the maximum acceleration can reach 71 729 g within an average duration of 0.18 ms. The extreme acceleration results in instantaneous mandible strike forces that can exceed 330 times the ant's body weight, withstanding thousands of impacts. A natural impact-resistant fibrous helicoidal structure is found in the mandibles of trap-jaw ants. This microstructure is characterized by periodic modulus oscillations that increase energy absorption and improve stress redistribution, offering added protection against damage from impact loading. A carbon fiber reinforced helicoidal composite is fabricated based on the microstructure of the trap-jaw ant's mandibles. The results show that the helicoidal composite with a 12° helical-fiber exhibits higher residual strength, making it more capable of withstanding strong collisions. The catastrophic propagation of damage along the thickness direction is prevented by in-plane spreading and redirection of cracks. This research provides useful references for fabricating bionic impact-resistant composites.

Geometric latches enable tuning of ultrafast, spring-propelled movements

The smallest, fastest, repeated-use movements are propelled by power-dense elastic mechanisms, yet the key to their energetic control may be found in the latch-like mechanisms that mediate transformation from elastic potential energy to kinetic energy. Here, we tested how geometric latches enable consistent or variable outputs in ultrafast, spring-propelled systems. We constructed a reduced-order mathematical model of a spring-propelled system that uses a torque reversal (over-center) geometric latch. The model was parameterized to match the scales and mechanisms of ultrafast systems, specifically snapping shrimp. We simulated geometric and energetic configurations that enabled or reduced variation of strike durations and dactyl rotations given variation of stored elastic energy and latch mediation. Then, we collected an experimental dataset of the energy storage mechanism and ultrafast snaps of live snapping shrimp (Alpheus heterochaelis) and compared our simulations with their configuration. We discovered that snapping shrimp deform the propodus exoskeleton prior to the strike, which may contribute to elastic energy storage. Regardless of the amount of variation in spring loading duration, strike durations were far less variable than spring loading durations. When we simulated this species' morphological configuration in our mathematical model, we found that the low variability of strike duration is consistent with their torque reversal geometry. Even so, our simulations indicate that torque reversal systems can achieve either variable or invariant outputs through small adjustments to geometry. Our combined experiments and mathematical simulations reveal the capacity of geometric latches to enable, reduce or enhance variation of ultrafast movements in biological and synthetic systems.