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Fiorello I, Ronzan M, Speck T, Sinibaldi E, Mazzolai B. A Biohybrid Self-Dispersing Miniature Machine Using Wild Oat Fruit Awns for Reforestation and Precision Agriculture. Adv Mater 2024:e2313906. [PMID: 38583068 DOI: 10.1002/adma.202313906] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/19/2023] [Revised: 03/18/2024] [Indexed: 04/08/2024]
Abstract
Advances in bioinspired and biohybrid robotics are enabling the creation of multifunctional systems able to explore complex unstructured environments. Inspired by Avena fruits, a biohybrid miniaturized autonomous machine (HybriBot) composed of a biomimetic biodegradable capsule as cargo delivery system and natural humidity-driven sister awns as biological motors is reported. Microcomputed tomography, molding via two-photon polymerization and casting of natural awns into biodegradable materials is employed to fabricate multiple HybriBots capable of exploring various soil and navigating soil irregularities, such as holes and cracks. These machines replicate the dispersal movements and biomechanical performances of natural fruits, achieving comparable capsule drag forces up to ≈0.38 N and awns torque up to ≈100 mN mm-1. They are functionalized with fertilizer and are successfully utilized to germinate selected diaspores. HybriBots function as self-dispersed systems with applications in reforestation and precision agriculture.
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Affiliation(s)
- Isabella Fiorello
- Istituto Italiano di Tecnologia, Bioinspired Soft Robotics Laboratory, Via Morego 30, Genova, 16163, Italy
- University of Freiburg, Cluster of Excellence livMatS @ FIT - Freiburg Center for Interactive Materials and Bioinspired Technologies, Georges-Köhler-Allee 105, D-79110, Freiburg, Germany
- University of Freiburg, Plant Biomechanics Group, Schänzlestraße 1, D-79104, Freiburg, Germany
| | - Marilena Ronzan
- Istituto Italiano di Tecnologia, Bioinspired Soft Robotics Laboratory, Via Morego 30, Genova, 16163, Italy
| | - Thomas Speck
- University of Freiburg, Cluster of Excellence livMatS @ FIT - Freiburg Center for Interactive Materials and Bioinspired Technologies, Georges-Köhler-Allee 105, D-79110, Freiburg, Germany
- University of Freiburg, Plant Biomechanics Group, Schänzlestraße 1, D-79104, Freiburg, Germany
| | - Edoardo Sinibaldi
- Istituto Italiano di Tecnologia, Bioinspired Soft Robotics Laboratory, Via Morego 30, Genova, 16163, Italy
| | - Barbara Mazzolai
- Istituto Italiano di Tecnologia, Bioinspired Soft Robotics Laboratory, Via Morego 30, Genova, 16163, Italy
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Del Dottore E, Mondini A, Rowe N, Mazzolai B. A growing soft robot with climbing plant-inspired adaptive behaviors for navigation in unstructured environments. Sci Robot 2024; 9:eadi5908. [PMID: 38232147 DOI: 10.1126/scirobotics.adi5908] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/05/2023] [Accepted: 12/14/2023] [Indexed: 01/19/2024]
Abstract
Self-growing robots are an emerging solution in soft robotics for navigating, exploring, and colonizing unstructured environments. However, their ability to grow and move in heterogeneous three-dimensional (3D) spaces, comparable with real-world conditions, is still developing. We present an autonomous growing robot that draws inspiration from the behavioral adaptive strategies of climbing plants to navigate unstructured environments. The robot mimics climbing plants' apical shoot to sense and coordinate additive adaptive growth via an embedded additive manufacturing mechanism and a sensorized tip. Growth orientation, comparable with tropisms in real plants, is dictated by external stimuli, including gravity, light, and shade. These are incorporated within a vector field method to implement the preferred adaptive behavior for a given environment and task, such as growth toward light and/or against gravity. We demonstrate the robot's ability to navigate through growth in relation to voids, potential supports, and thoroughfares in otherwise complex habitats. Adaptive twining around vertical supports can provide an escape from mechanical stress due to self-support, reduce energy expenditure for construction costs, and develop an anchorage point to support further growth and crossing gaps. The robot adapts its material printing parameters to develop a light body and fast growth to twine on supports or a tougher body to enable self-support and cross gaps. These features, typical of climbing plants, highlight a potential for adaptive robots and their on-demand manufacturing. They are especially promising for applications in exploring, monitoring, and interacting with unstructured environments or in the autonomous construction of complex infrastructures.
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Affiliation(s)
- Emanuela Del Dottore
- Bioinspired Soft Robotics Laboratory, Fondazione Istituto Italiano di Tecnologia, Genova, Italy
| | - Alessio Mondini
- Bioinspired Soft Robotics Laboratory, Fondazione Istituto Italiano di Tecnologia, Genova, Italy
| | - Nick Rowe
- AMAP Laboratory, University of Montpellier, CIRAD, CNRS, INRAE, IRD, Montpellier, France
| | - Barbara Mazzolai
- Bioinspired Soft Robotics Laboratory, Fondazione Istituto Italiano di Tecnologia, Genova, Italy
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3
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Cikalleshi K, Nexha A, Kister T, Ronzan M, Mondini A, Mariani S, Kraus T, Mazzolai B. A printed luminescent flier inspired by plant seeds for eco-friendly physical sensing. Sci Adv 2023; 9:eadi8492. [PMID: 37967177 PMCID: PMC10651124 DOI: 10.1126/sciadv.adi8492] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/26/2023] [Accepted: 10/18/2023] [Indexed: 11/17/2023]
Abstract
Continuous and distributed monitoring of environmental parameters may pave the way for developing sustainable strategies to tackle climate challenges. State-of-the-art technologies, made with electronic systems, are often costly, heavy, and generate e-waste. Here, we propose a new generation of self-deployable, biocompatible, and luminescent artificial flying seeds for wireless, optical, and eco-friendly monitoring of environmental parameters (i.e., temperature). Inspired by natural Acer campestre plant seeds, we developed three-dimensional functional printed luminescent seed-like fliers, selecting polylactic acid as a biocompatible matrix and temperature as a physical parameter to be monitored. The artificial seeds mimic the aerodynamic and wind dispersal performance of the natural ones. The sensing properties are given by the integration of fluorescent lanthanide-doped particles, whose photoluminescence properties depend on temperature. The luminescent artificial flying seeds can be optically read from a distance using eye-safe near-infrared wavelengths, thus acting as a deployable sensor for distributed monitoring of topsoil environmental temperatures.
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Affiliation(s)
- Kliton Cikalleshi
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
- The Biorobotics Institute, Scuola Superiore Sant’Anna, 56025 Pontedera, Italy
| | - Albenc Nexha
- INM-Leibniz Institute for New Materials, 66123 Saarbrücken, Germany
| | - Thomas Kister
- INM-Leibniz Institute for New Materials, 66123 Saarbrücken, Germany
| | - Marilena Ronzan
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
| | - Alessio Mondini
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
| | - Stefano Mariani
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
| | - Tobias Kraus
- INM-Leibniz Institute for New Materials, 66123 Saarbrücken, Germany
- Saarland University, Colloid and Interface Chemistry, 66123, Saarbrücken, Germany
| | - Barbara Mazzolai
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
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Del Dottore E, Mazzolai B. Perspectives on Computation in Plants. Artif Life 2023; 29:336-350. [PMID: 36787453 DOI: 10.1162/artl_a_00396] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/18/2023]
Abstract
Plants thrive in virtually all natural and human-adapted environments and are becoming popular models for developing robotics systems because of their strategies of morphological and behavioral adaptation. Such adaptation and high plasticity offer new approaches for designing, modeling, and controlling artificial systems acting in unstructured scenarios. At the same time, the development of artifacts based on their working principles reveals how plants promote innovative approaches for preservation and management plans and opens new applications for engineering-driven plant science. Environmentally mediated growth patterns (e.g., tropisms) are clear examples of adaptive behaviors displayed through morphological phenotyping. Plants also create networks with other plants through subterranean roots-fungi symbiosis and use these networks to exchange resources or warning signals. This article discusses the functional behaviors of plants and shows the close similarities with a perceptron-like model that could act as a behavior-based control model in plants. We begin by analyzing communication rules and growth behaviors of plants; we then show how we translated plant behaviors into algorithmic solutions for bioinspired robot controllers; and finally, we discuss how those solutions can be extended to embrace original approaches to networking and robotics control architectures.
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Affiliation(s)
| | - Barbara Mazzolai
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia.
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Yaqoob B, Dottore ED, Mondini A, Rodella A, Mazzolai B, Pugno NM. Towards the optimization of passive undulatory locomotion on land: mathematical and physical models. J R Soc Interface 2023; 20:20230330. [PMID: 37553994 PMCID: PMC10410216 DOI: 10.1098/rsif.2023.0330] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/28/2023] [Accepted: 07/14/2023] [Indexed: 08/10/2023] Open
Abstract
The current study investigates the body-environment interaction and exploits the passive viscoelastic properties of the body to perform undulatory locomotion. The investigations are carried out using a mathematical model based on a dry frictional environment, and the results are compared with the performance obtained using a physical model. The physical robot is a wheel-based modular system with flexible joints moving on different substrates. The influence of the spatial distribution of body stiffness on speed performance is also investigated. Our results suggest that the environment affects the performance of undulatory locomotion based on the distribution of body stiffness. While stiffness may vary with the environment, we have established a qualitative constitutive law that holds across environments. Specifically, we expect the stiffness distribution to exhibit either an ascending-descending or an ascending-plateau pattern along the length of the object, from head to tail. Furthermore, undulatory locomotion showed sensitivity to contact mechanics: solid-solid or solid-viscoelastic contact produced different locomotion kinematics. Our results elucidate how terrestrial limbless animals achieve undulatory locomotion performance by exploiting the passive properties of the environment and the body. Application of the results obtained may lead to better performing long-segmented robots that exploit the suitability of passive body dynamics and the properties of the environment in which they need to move.
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Affiliation(s)
- Basit Yaqoob
- Laboratory for Bioinspired, Bionic, Nano, Meta Materials and Mechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Trento 38122, Italy
- Laboratory of Bioinspired Soft Robotics, Center for Convergent Technologies, Istituto Italiano di Tecnologia, Genova 16163, Italy
| | - Emanuela Del Dottore
- Laboratory of Bioinspired Soft Robotics, Center for Convergent Technologies, Istituto Italiano di Tecnologia, Genova 16163, Italy
| | - Alessio Mondini
- Laboratory of Bioinspired Soft Robotics, Center for Convergent Technologies, Istituto Italiano di Tecnologia, Genova 16163, Italy
| | - Andrea Rodella
- Department of Structural and Geotechnical Engineering, Sapienza University of Rome, Rome 00184, Italy
| | - Barbara Mazzolai
- Laboratory of Bioinspired Soft Robotics, Center for Convergent Technologies, Istituto Italiano di Tecnologia, Genova 16163, Italy
| | - Nicola M. Pugno
- Laboratory for Bioinspired, Bionic, Nano, Meta Materials and Mechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Trento 38122, Italy
- School of Engineering and Materials Science, Queen Mary University of London, London E1 4NS, UK
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6
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Eggenhöffner R, Ghisellini P, Rando C, Pechkova E, Terencio T, Mazzolai B, Giacomelli L, Barbaro K, Benedicenti S. Innovative Nanostructured Fillers for Dental Resins: Nanoporous Alumina and Titania Nanotubes. Biomedicines 2023; 11:1926. [PMID: 37509565 PMCID: PMC10377199 DOI: 10.3390/biomedicines11071926] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/17/2023] [Revised: 05/30/2023] [Accepted: 07/01/2023] [Indexed: 07/30/2023] Open
Abstract
The possibility of improving dental restorative materials is investigated through the addition of two different types of fillers to a polymeric resin. These fillers, consisting of porous alumina and TiO2 nanotubes, are compared based on their common physicochemical properties on the nanometric scale. The aim was to characterize and compare the surface morphological properties of composite resins with different types of fillers using analytical techniques. Moreover, ways to optimize the mechanical, surface, and aesthetic properties of reinforced polymer composites are discussed for applications in dental treatments. Filler-reinforced polymer composites are the most widely used materials in curing dental pathologies, although it remains necessary to optimize properties such as mechanical resistance, surface characteristics, and biocompatibility. Anodized porous alumina nanoparticles prepared by electrochemical anodization offer a route to improve mechanical properties and biocompatibility as well as to allow for the controlled release of bioactive molecules that can promote tissue integration and regeneration. The inclusion of TiO2 nanotubes prepared by hydrothermal treatment in the resin matrix promotes the improvement of mechanical and physical properties such as strength, stiffness, and hardness, as well as aesthetic properties such as color stability and translucency. The surface morphological properties of composite resins with anodized porous alumina and TiO2 nanotube fillers were characterized by Atomic Force Microscopy (AFM), Scanning Electron Microscopy (SEM), and X-ray chemical analysis. In addition, the stress-strain behavior of the two composite resins is examined in comparison with enamel and dentin.
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Affiliation(s)
- Roberto Eggenhöffner
- Department of Surgical Sciences and Integrated Diagnostics (DISC), Genova University, Corso Europa 30, 16132 Genova, Italy
- Biostructures and Biosystems National Institute, Viale delle Medaglie D'Oro 305, 00136 Rome, Italy
| | - Paola Ghisellini
- Department of Surgical Sciences and Integrated Diagnostics (DISC), Genova University, Corso Europa 30, 16132 Genova, Italy
- Biostructures and Biosystems National Institute, Viale delle Medaglie D'Oro 305, 00136 Rome, Italy
| | - Cristina Rando
- Department of Surgical Sciences and Integrated Diagnostics (DISC), Genova University, Corso Europa 30, 16132 Genova, Italy
| | - Eugenia Pechkova
- Biostructures and Biosystems National Institute, Viale delle Medaglie D'Oro 305, 00136 Rome, Italy
- Laboratories of Biophysics and Nanotechnology, Department of Experimental Medicine (DIMES), Genova University, Via A. Pastore 3, 16132 Genova, Italy
| | - Tercio Terencio
- Istituto Italiano di Tecnologia (IIT), Viale Rinaldo Piaggio 34, 56025 Pontedera, Italy
| | - Barbara Mazzolai
- Istituto Italiano di Tecnologia (IIT), Viale Rinaldo Piaggio 34, 56025 Pontedera, Italy
| | - Luca Giacomelli
- Department of Surgical Sciences and Integrated Diagnostics (DISC), Genova University, Corso Europa 30, 16132 Genova, Italy
| | - Katia Barbaro
- Biostructures and Biosystems National Institute, Viale delle Medaglie D'Oro 305, 00136 Rome, Italy
- Istituto Zooprofilattico Sperimentale Lazio e Toscana "M. Aleandri", 00178 Rome, Italy
| | - Stefano Benedicenti
- Department of Surgical Sciences and Integrated Diagnostics (DISC), Genova University, Corso Europa 30, 16132 Genova, Italy
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De Pascali C, Palagi S, Mazzolai B. 3D-printed hierarchical arrangements of actuators mimicking biological muscular architectures. Bioinspir Biomim 2023; 18:046014. [PMID: 37116509 DOI: 10.1088/1748-3190/acd159] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/19/2023]
Abstract
Being able to imitate the sophisticated muscular architectures that characterize the animal kingdom in biomimetic machines would allow them to perform articulated movements with the same naturalness. In soft robotics, multiple actuation technologies have been developed to mimic the contraction of a single natural muscle, but a few of them can be implemented in complex architectures capable of diversifying deformations and forces. In this work, we present three different biomimetic muscle architectures, i.e., fusiform, parallel, and bipennate, which are based on hierarchical arrangements of multiple pneumatic actuators. These biomimetic architectures are monolithic structures composed of thirty-six pneumatic actuators each, directly 3D printed through low-cost printers and commercial materials without any assembly phase. The considerable number of actuators involved enabled the adoption and consequent comparison of two regulation strategies: one based on input modulation, commonly adopted in pneumatic systems, and one based on fiber recruitment, mimicking the regulation behavior of natural muscles. The straightforward realization through additive manufacturing processes of muscle architectures regulated by fiber recruitment strategies facilitates the development of articulated muscular systems for biomimetics machines increasingly similar to the natural ones.
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Affiliation(s)
- Corrado De Pascali
- Istituto Italiano di Tecnologia, Via Morego 30, Genova, Liguria, 16163, ITALY
| | - Stefano Palagi
- Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, Pontedera, 56025, ITALY
| | - Barbara Mazzolai
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia, Via Morego 30, Genova, Liguria, 16163, ITALY
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Giordano G, Murali Babu SP, Mazzolai B. Soft robotics towards sustainable development goals and climate actions. Front Robot AI 2023; 10:1116005. [PMID: 37008983 PMCID: PMC10064016 DOI: 10.3389/frobt.2023.1116005] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/04/2022] [Accepted: 03/06/2023] [Indexed: 03/19/2023] Open
Abstract
Soft robotics technology can aid in achieving United Nations’ Sustainable Development Goals (SDGs) and the Paris Climate Agreement through development of autonomous, environmentally responsible machines powered by renewable energy. By utilizing soft robotics, we can mitigate the detrimental effects of climate change on human society and the natural world through fostering adaptation, restoration, and remediation. Moreover, the implementation of soft robotics can lead to groundbreaking discoveries in material science, biology, control systems, energy efficiency, and sustainable manufacturing processes. However, to achieve these goals, we need further improvements in understanding biological principles at the basis of embodied and physical intelligence, environment-friendly materials, and energy-saving strategies to design and manufacture self-piloting and field-ready soft robots. This paper provides insights on how soft robotics can address the pressing issue of environmental sustainability. Sustainable manufacturing of soft robots at a large scale, exploring the potential of biodegradable and bioinspired materials, and integrating onboard renewable energy sources to promote autonomy and intelligence are some of the urgent challenges of this field that we discuss in this paper. Specifically, we will present field-ready soft robots that address targeted productive applications in urban farming, healthcare, land and ocean preservation, disaster remediation, and clean and affordable energy, thus supporting some of the SDGs. By embracing soft robotics as a solution, we can concretely support economic growth and sustainable industry, drive solutions for environment protection and clean energy, and improve overall health and well-being.
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Affiliation(s)
- Goffredo Giordano
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy
- Department of Mechanics Mathematics and Management, Politecnico di Barit, Bari, Italy
- *Correspondence: Goffredo Giordano, , ; Saravana Prashanth Murali Babu, , ; Barbara Mazzolai,
| | - Saravana Prashanth Murali Babu
- SDU Soft Robotics, SDU Biorobotics, The Mærsk McKinney Møller Institute, University of Southern Denmark, Odense, Denmark
- *Correspondence: Goffredo Giordano, , ; Saravana Prashanth Murali Babu, , ; Barbara Mazzolai,
| | - Barbara Mazzolai
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia (IIT), Genova, Italy
- *Correspondence: Goffredo Giordano, , ; Saravana Prashanth Murali Babu, , ; Barbara Mazzolai,
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Cecchini L, Mariani S, Ronzan M, Mondini A, Pugno NM, Mazzolai B. 4D Printing of Humidity-Driven Seed Inspired Soft Robots. Adv Sci (Weinh) 2023; 10:e2205146. [PMID: 36725304 PMCID: PMC10037692 DOI: 10.1002/advs.202205146] [Citation(s) in RCA: 11] [Impact Index Per Article: 11.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 09/07/2022] [Revised: 12/05/2022] [Indexed: 06/18/2023]
Abstract
Geraniaceae seeds represent a role model in soft robotics thanks to their ability to move autonomously across and into the soil driven by humidity changes. The secret behind their mobility and adaptivity is embodied in the hierarchical structures and anatomical features of the biological hygroscopic tissues, geometrically designed to be selectively responsive to environmental humidity. Following a bioinspired approach, the internal structure and biomechanics of Pelargonium appendiculatum (L.f.) Willd seeds are investigated to develop a model for the design of a soft robot. The authors exploit the re-shaping ability of 4D printed materials to fabricate a seed-like soft robot, according to the natural specifications and model, and using biodegradable and hygroscopic polymers. The robot mimics the movement and performances of the natural seed, reaching a torque value of ≈30 µN m, an extensional force of ≈2.5 mN and it is capable to lift ≈100 times its own weight. Driven by environmental humidity changes, the artificial seed is able to explore a sample soil, adapting its morphology to interact with soil roughness and cracks.
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Affiliation(s)
- Luca Cecchini
- Bioinspired Soft Robotics LaboratoryIstituto Italiano di TecnologiaVia Morego 30Genova16163Italy
- Laboratory for BioinspiredBionicNanoMeta Materials and MechanicsDepartment of CivilEnvironmental and Mechanical EngineeringUniversity di TrentoVia Mesiano 77Trento38123Italy
| | - Stefano Mariani
- Bioinspired Soft Robotics LaboratoryIstituto Italiano di TecnologiaVia Morego 30Genova16163Italy
| | - Marilena Ronzan
- Bioinspired Soft Robotics LaboratoryIstituto Italiano di TecnologiaVia Morego 30Genova16163Italy
| | - Alessio Mondini
- Bioinspired Soft Robotics LaboratoryIstituto Italiano di TecnologiaVia Morego 30Genova16163Italy
| | - Nicola M. Pugno
- Laboratory for BioinspiredBionicNanoMeta Materials and MechanicsDepartment of CivilEnvironmental and Mechanical EngineeringUniversity di TrentoVia Mesiano 77Trento38123Italy
- School of Engineering and Materials ScienceQueen Mary University of LondonMile End RoadLondonE1 4NSUK
| | - Barbara Mazzolai
- Bioinspired Soft Robotics LaboratoryIstituto Italiano di TecnologiaVia Morego 30Genova16163Italy
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Yaqoob B, Rodella A, Del Dottore E, Mondini A, Mazzolai B, Pugno NM. Mechanics and optimization of undulatory locomotion in different environments, tuning geometry, stiffness, damping and frictional anisotropy. J R Soc Interface 2023; 20:20220875. [PMID: 36751930 PMCID: PMC9905976 DOI: 10.1098/rsif.2022.0875] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/05/2022] [Accepted: 01/11/2023] [Indexed: 02/09/2023] Open
Abstract
One of the oldest yet most common modalities of locomotion known among limbless animals is undulatory, also recognized for its stability compared to legged locomotion. Multiple forms of active mechanisms, e.g. active gait control, and passive mechanisms, e.g. body morphology and material properties, have adapted to different environments. The current research explores the passive role of body stiffness and internal losses in meeting terrain requirements. Furthermore, it addresses the influence of the environment on the resultant gait and how the interplay between various environments and body properties can lead to different speeds. We modelled undulatory locomotion in a dry friction environment where frictional anisotropy determines propulsion. We found that the body stiffness, the moment of inertia, the dry frictional coefficient ratio between normal and tangential frictional constants, and the internal damping of the body play an essential role in optimizing speed and animal adaptability to external conditions. Furthermore, we demonstrate that various known gaits like swimming, crawling and polychaete-like locomotion are achieved as a result of the interaction between body and environment parameters. Moreover, we validated the model by retrieving a corn snake's speed using data from the literature. This study demonstrates that the dependence between morphology, body material properties and environment can be exploited to design long-segmented robots to perform in specialized situations.
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Affiliation(s)
- Basit Yaqoob
- Laboratory for Bioinspired, Bionic, Nano, Meta Materials and Mechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, 38122 Trento, Italy
- Laboratory of Bioinspired Soft Robotics, Center for Convergent Technologies, Istituto Italiano di Tecnologia, 16163 Genova, Italy
| | - Andrea Rodella
- Department of Structural and Geotechnical Engineering, Sapienza University of Rome, Italy
| | - Emanuela Del Dottore
- Laboratory of Bioinspired Soft Robotics, Center for Convergent Technologies, Istituto Italiano di Tecnologia, 16163 Genova, Italy
| | - Alessio Mondini
- Laboratory of Bioinspired Soft Robotics, Center for Convergent Technologies, Istituto Italiano di Tecnologia, 16163 Genova, Italy
| | - Barbara Mazzolai
- Laboratory of Bioinspired Soft Robotics, Center for Convergent Technologies, Istituto Italiano di Tecnologia, 16163 Genova, Italy
| | - Nicola M. Pugno
- Laboratory for Bioinspired, Bionic, Nano, Meta Materials and Mechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, 38122 Trento, Italy
- School of Engineering and Materials Science, Queen Mary University of London, London E1 4NS, UK
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11
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Das R, Babu SPM, Visentin F, Palagi S, Mazzolai B. An earthworm-like modular soft robot for locomotion in multi-terrain environments. Sci Rep 2023; 13:1571. [PMID: 36709355 PMCID: PMC9884293 DOI: 10.1038/s41598-023-28873-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/25/2022] [Accepted: 01/24/2023] [Indexed: 01/30/2023] Open
Abstract
Robotic locomotion in subterranean environments is still unsolved, and it requires innovative designs and strategies to overcome the challenges of burrowing and moving in unstructured conditions with high pressure and friction at depths of a few centimeters. Inspired by antagonistic muscle contractions and constant volume coelomic chambers observed in earthworms, we designed and developed a modular soft robot based on a peristaltic soft actuator (PSA). The PSA demonstrates two active configurations from a neutral state by switching the input source between positive and negative pressure. PSA generates a longitudinal force for axial penetration and a radial force for anchorage, through bidirectional deformation of the central bellows-like structure, which demonstrates its versatility and ease of control. The performance of PSA depends on the amount and type of fluid confined in an elastomer chamber, generating different forces and displacements. The assembled robot with five PSA modules enabled to perform peristaltic locomotion in different media. The role of friction was also investigated during experimental locomotion tests by attaching passive scales like earthworm setae to the ventral side of the robot. This study proposes a new method for developing a peristaltic earthworm-like soft robot and provides a better understanding of locomotion in different environments.
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Affiliation(s)
- Riddhi Das
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy. .,The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy.
| | - Saravana Prashanth Murali Babu
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy. .,Center for Soft Robotics, SDU Biorobotics, The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Odense, Denmark.
| | - Francesco Visentin
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy.,Department of Computer Science, Università degli Studi di Verona, Verona, Italy
| | - Stefano Palagi
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy.,The BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy
| | - Barbara Mazzolai
- Bioinspired Soft Robotics Lab, Istituto Italiano di Tecnologia, Genoa, Italy.
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12
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Armiento S, Meder F, Mazzolai B. Device for simultaneous wind and raindrop energy harvesting operating on the surface of plant leaves. IEEE Robot Autom Lett 2023. [DOI: 10.1109/lra.2023.3250006] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 03/04/2023]
Affiliation(s)
- S. Armiento
- Bioinspired Soft Robotics (BSR), Italian Institute of Technology (IIT), Genova, Italy
| | - F. Meder
- Bioinspired Soft Robotics (BSR), Italian Institute of Technology (IIT), Genova, Italy
| | - B. Mazzolai
- Bioinspired Soft Robotics (BSR), Italian Institute of Technology (IIT), Genova, Italy
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13
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Laschi C, Mazzolai B. Move imperceptibly. Nat Mater 2022; 21:1350-1351. [PMID: 36357690 DOI: 10.1038/s41563-022-01411-1] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/16/2023]
Affiliation(s)
- Cecilia Laschi
- Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore.
| | - Barbara Mazzolai
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy.
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14
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Meder F, Baytekin B, Del Dottore E, Meroz Y, Tauber F, Walker I, Mazzolai B. A perspective on plant robotics: from bioinspiration to hybrid systems. Bioinspir Biomim 2022; 18:015006. [PMID: 36351300 DOI: 10.1088/1748-3190/aca198] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/13/2022] [Accepted: 11/09/2022] [Indexed: 06/16/2023]
Abstract
As miscellaneous as the Plant Kingdom is, correspondingly diverse are the opportunities for taking inspiration from plants for innovations in science and engineering. Especially in robotics, properties like growth, adaptation to environments, ingenious materials, sustainability, and energy-effectiveness of plants provide an extremely rich source of inspiration to develop new technologies-and many of them are still in the beginning of being discovered. In the last decade, researchers have begun to reproduce complex plant functions leading to functionality that goes far beyond conventional robotics and this includes sustainability, resource saving, and eco-friendliness. This perspective drawn by specialists in different related disciplines provides a snapshot from the last decade of research in the field and draws conclusions on the current challenges, unanswered questions on plant functions, plant-inspired robots, bioinspired materials, and plant-hybrid systems looking ahead to the future of these research fields.
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Affiliation(s)
- Fabian Meder
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Bilge Baytekin
- Department of Chemistry and UNAM National Nanotechnology Research Center, Bilkent University, Ankara, Turkey
| | | | - Yasmine Meroz
- School of Plant Sciences and Food Security, Tel Aviv University, Tel Aviv, Israel
| | - Falk Tauber
- Plant Biomechanics Group (PBG) Freiburg, Botanic Garden of the University of Freiburg, Freiburg, Germany
- Cluster of Excellence livMatS @ FIT-Freiburg Center for Interactive Materials and Bioinspired Technologies, University of Freiburg, Freiburg, Germany
| | - Ian Walker
- Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, United States of America
| | - Barbara Mazzolai
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia, Genoa, Italy
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15
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Pirrone SRM, Del Dottore E, Mazzolai B. Historical evolution and new trends for soil-intruder interaction modeling. Bioinspir Biomim 2022; 18:011001. [PMID: 36223782 DOI: 10.1088/1748-3190/ac99c4] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/01/2022] [Accepted: 10/12/2022] [Indexed: 06/16/2023]
Abstract
Soil is a crucial resource for life on Earth. Every activity, whether natural or man-made, that interacts with the sub or deep soil can affect the land at large scales (e.g. geological risks). Understanding such interactions can help identify more sustainable and less invasive soil penetration, exploration, and monitoring solutions. Over the years, multiple approaches have been used in modeling soil mechanics to reveal soil behavior. This paper reviews the different modeling techniques used to simulate the interaction between a penetrating tool and the soil, following their use over time. Opening with analytical methods, we discuss the limitations that have partially been overcome by the finite element method (FEM). FEM models are capable of simulating more complex conditions and geometries. However, they require the continuum mechanics assumption. Hence, FEM analysis cannot simulate the discrete processes occurring during soil deformation (i.e. the separation and mixing of soil layers, the appearance of cracks, or the flow of soil particles). The discrete element method (DEM) has thus been adopted as a more promising modeling technique. Alongside models, experimental approaches have also been used to describe soil-intruder interactions, complementing or validating simulation results. Recently, bioinspired approaches have been considered promising to improve sustainability and reduce the invasiveness of classical penetration strategies. This review highlights how DEM-based models can help in studying the interaction mechanisms between bioinspired root-like artificial penetrometers and the soil. Bioinspired designs and the merging of multiple analysis approaches can offer new perspectives. These may be pivotal in the design of highly optimized soil robotic explorers capable of adapting their morphology and penetration strategies based on their surrounding conditions.
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Affiliation(s)
- Serena R M Pirrone
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia (IIT), Via Morego 30, 16163 Genova (GE), Italy
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy
| | - Emanuela Del Dottore
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia (IIT), Via Morego 30, 16163 Genova (GE), Italy
| | - Barbara Mazzolai
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia (IIT), Via Morego 30, 16163 Genova (GE), Italy
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16
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Meder F, Naselli GA, Mazzolai B. Wind dynamics and leaf motion: Approaching the design of high-tech devices for energy harvesting for operation on plant leaves. Front Plant Sci 2022; 13:994429. [PMID: 36388505 PMCID: PMC9644130 DOI: 10.3389/fpls.2022.994429] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 07/14/2022] [Accepted: 10/04/2022] [Indexed: 06/16/2023]
Abstract
High-tech sensors, energy harvesters, and robots are increasingly being developed for operation on plant leaves. This introduces an extra load which the leaf must withstand, often under further dynamic forces like wind. Here, we took the example of mechanical energy harvesters that consist of flat artificial "leaves" fixed on the petioles of N. oleander, converting wind energy into electricity. We developed a combined experimental and computational approach to describe the static and dynamic mechanics of the natural and artificial leaves individually and join them together in the typical energy harvesting configuration. The model, in which the leaves are torsional springs with flexible petioles and rigid lamina deforming under the effect of gravity and wind, enables us to design the artificial device in terms of weight, flexibility, and dimensions based on the mechanical properties of the plant leaf. Moreover, it predicts the dynamic motions of the leaf-artificial leaf combination, causing the mechanical-to-electrical energy conversion at a given wind speed. The computational results were validated in dynamic experiments measuring the electrical output of the plant-hybrid energy harvester. Our approach enables us to design the artificial structure for damage-safe operation on leaves (avoiding overloading caused by the interaction between leaves and/or by the wind) and suggests how to improve the combined leaf oscillations affecting the energy harvesting performance. We furthermore discuss how the mathematical model could be extended in future works. In summary, this is a first approach to improve the adaptation of artificial devices to plants, advance their performance, and to counteract damage by mathematical modelling in the device design phase.
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Affiliation(s)
- Fabian Meder
- *Correspondence: Fabian Meder, ; Giovanna Adele Naselli, ; Barbara Mazzolai,
| | | | - Barbara Mazzolai
- *Correspondence: Fabian Meder, ; Giovanna Adele Naselli, ; Barbara Mazzolai,
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17
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De Pascali C, Naselli GA, Palagi S, Scharff RBN, Mazzolai B. 3D-printed biomimetic artificial muscles using soft actuators that contract and elongate. Sci Robot 2022; 7:eabn4155. [PMID: 35895921 DOI: 10.1126/scirobotics.abn4155] [Citation(s) in RCA: 13] [Impact Index Per Article: 6.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
Abstract
Biomimetic machines able to integrate with natural and social environments will find ubiquitous applications, from biodiversity conservation to elderly daily care. Although artificial actuators have reached the contraction performances of muscles, the versatility and grace of the movements realized by the complex arrangements of muscles remain largely unmatched. Here, we present a class of pneumatic artificial muscles, named GeometRy-based Actuators that Contract and Elongate (GRACE). The GRACEs consist of a single-material pleated membrane and do not need any strain-limiting elements. They can contract and extend by design, as described by a mathematical model, and can be realized at different dimensional scales and with different materials and mechanical performances, enabling a wide range of lifelike movements. The GRACEs can be fabricated through low-cost additive manufacturing and even built directly within functional devices, such as a pneumatic artificial hand that is fully three-dimensionally printed in one step. This makes the prototyping and fabrication of pneumatic artificial muscle-based devices faster and more straightforward.
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Affiliation(s)
- Corrado De Pascali
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy.,BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy
| | | | - Stefano Palagi
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy.,BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy
| | - Rob B N Scharff
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Barbara Mazzolai
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy
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18
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Meder F, Murali Babu SP, Mazzolai B. A Plant Tendril-Like Soft Robot That Grasps and Anchors by Exploiting its Material Arrangement. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3153713] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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19
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Mazzolai B, Mariani S, Ronzan M, Cecchini L, Fiorello I, Cikalleshi K, Margheri L. Morphological Computation in Plant Seeds for a New Generation of Self-Burial and Flying Soft Robots. Front Robot AI 2021; 8:797556. [PMID: 34901173 PMCID: PMC8664382 DOI: 10.3389/frobt.2021.797556] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/18/2021] [Accepted: 11/09/2021] [Indexed: 11/13/2022] Open
Abstract
Plants have evolved different mechanisms to disperse from parent plants and improve germination to sustain their survival. The study of seed dispersal mechanisms, with the related structural and functional characteristics, is an active research topic for ecology, plant diversity, climate change, as well as for its relevance for material science and engineering. The natural mechanisms of seed dispersal show a rich source of robust, highly adaptive, mass and energy efficient mechanisms for optimized passive flying, landing, crawling and drilling. The secret of seeds mobility is embodied in the structural features and anatomical characteristics of their tissues, which are designed to be selectively responsive to changes in the environmental conditions, and which make seeds one of the most fascinating examples of morphological computation in Nature. Particularly clever for their spatial mobility performance, are those seeds that use their morphology and structural characteristics to be carried by the wind and dispersed over great distances (i.e. "winged" and "parachute" seeds), and seeds able to move and penetrate in soil with a self-burial mechanism driven by their hygromorphic properties and morphological features. By looking at their motion mechanisms, new design principles can be extracted and used as inspiration for smart artificial systems endowed with embodied intelligence. This mini-review systematically collects, for the first time together, the morphological, structural, biomechanical and aerodynamic information from selected plant seeds relevant to take inspiration for engineering design of soft robots, and discusses potential future developments in the field across material science, plant biology, robotics and embodied intelligence.
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Affiliation(s)
- Barbara Mazzolai
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
| | - Stefano Mariani
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
| | - Marilena Ronzan
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
| | - Luca Cecchini
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
| | - Isabella Fiorello
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
| | - Kliton Cikalleshi
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
| | - Laura Margheri
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
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20
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Meder F, Armiento S, Naselli GA, Thielen M, Speck T, Mazzolai B. Biohybrid generators based on living plants and artificial leaves: influence of leaf motion and real wind outdoor energy harvesting. Bioinspir Biomim 2021; 16:055009. [PMID: 34293725 DOI: 10.1088/1748-3190/ac1711] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/19/2021] [Accepted: 07/22/2021] [Indexed: 06/13/2023]
Abstract
Plants translate wind energy into leaf fluttering and branch motion by reversible tissue deformation. Simultaneously, the outermost structure of the plant, i.e. the dielectric cuticula, and the inner ion-conductive tissue can be used to convert mechanical vibration energy, such as that produced during fluttering in the wind, into electricity by surface contact electrification and electrostatic induction. Constraining a tailored artificial leaf to a plant leaf can enhance oscillations and transient mechanical contacts and thereby increase the electricity outcome. We have studied the effects of wind-induced mechanical interactions between the leaf of a plant (Rhododendron) and a flexible silicone elastomer-based artificial leaf fixed at the petiole on power output and whether performance can be further tuned by altering the vibrational behavior of the artificial leaf. The latter is achieved by modifying a concentrated mass at the tip of the artificial leaf and observing plant-generated current and voltage signals under air flow. In this configuration, the plant-hybrid wind-energy converters can directly power light-emitting diodes and a temperature sensor. Detailed output analysis has revealed that, under all conditions, an increase in wind speed leads to nearly linearly increased voltages and currents. Accordingly, the cumulative sum energy reaches its highest values at the highest wind speed and resulting oscillations of the plant-artificial leaf system. The mass at the tip can, in most cases, be used to increase the voltage amplitude and frequency. Nevertheless, this behavior was found to depend on the individual configuration of the system, such as the leaf morphology. Analysis of these factors under controlled conditions is crucial for optimizing systems meant to operate in unstructured outdoor scenarios. We have established, in a first approach, that the artificial leaf-plant hybrid generator is capable of autonomously generating electricity outdoors under real outdoor wind conditions, even at a low average wind speed of only 1.9 m s-1.
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Affiliation(s)
- Fabian Meder
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, Italy
| | - Serena Armiento
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, Italy
| | - Giovanna Adele Naselli
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, Italy
| | - Marc Thielen
- Plant Biomechanics Group, Botanic Garden, Faculty of Biology, University of Freiburg, Schänzlestraße 1, Freiburg 79104, Germany
| | - Thomas Speck
- Plant Biomechanics Group, Botanic Garden, Faculty of Biology, University of Freiburg, Schänzlestraße 1, Freiburg 79104, Germany
- Cluster of Excellence livMatS, Freiburg Center for Interactive Materials and Bioinspired Technologies (FIT), University of Freiburg, Georges-Köhler-Allee 105, Freiburg 78110, Germany
| | - Barbara Mazzolai
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia, Viale Rinaldo Piaggio 34, Pontedera, Pisa 56025, Italy
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21
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Giordano G, Gagliardi M, Huan Y, Carlotti M, Mariani A, Menciassi A, Sinibaldi E, Mazzolai B. Toward Mechanochromic Soft Material-Based Visual Feedback for Electronics-Free Surgical Effectors. Adv Sci (Weinh) 2021; 8:e2100418. [PMID: 34075732 PMCID: PMC8336492 DOI: 10.1002/advs.202100418] [Citation(s) in RCA: 7] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/01/2021] [Revised: 04/21/2021] [Indexed: 05/07/2023]
Abstract
A chromogenically reversible, mechanochromic pressure sensor is integrated into a mininvasive surgical grasper compatible with the da Vinci robotic surgical system. The sensorized effector, also featuring two soft-material jaws, encompasses a mechanochromic polymeric inset doped with functionalized spiropyran (SP) molecule, designed to activate mechanochromism at a chosen pressure and providing a reversible color change. Considering such tools are systematically in the visual field of the operator during surgery, color change of the mechanochromic effector can help avoid tissue damage. No electronics is required to control the devised visual feedback. SP-doping of polydimethylsiloxane (2.5:1 prepolymer/curing agent weight ratio) permits to modulate the mechanochromic activation pressure, with lower values around 1.17 MPa for a 2% wt. SP concentration, leading to a shorter chromogenic recovery time of 150 s at room temperature (25 °C) under green light illumination. Nearly three-times shorter recovery time is observed at body temperature (37 °C). To the best of knowledge, this study provides the first demonstration of mechanochromic materials in surgery, in particular to sensorize unpowered surgical effectors, by avoiding dramatic increases in tool complexity due to additional electronics, thus fostering their application. The proposed sensing strategy can be extended to further tools and scopes.
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Affiliation(s)
- Goffredo Giordano
- Center for Micro‐BioRoboticsItalian Institute of TechnologyViale Rinaldo Piaggio 34Pontedera (PI)56025Italy
- The BioRobotics InstituteScuola Superiore Sant'AnnaViale Rinaldo Piaggio 34Pontedera (PI)56025Italy
- Department of Excellence in Robotics and AIScuola Superiore Sant'AnnaPiazza Martiri della Libertà 33Pisa (PI)56127Italy
| | - Mariacristina Gagliardi
- NESTScuola Normale Superiore and Istituto NanoscienzeConsiglio Nazionale delle RicerchePiazza S. Silvestro, 12Pisa (PI)56127Italy
| | - Yu Huan
- The BioRobotics InstituteScuola Superiore Sant'AnnaViale Rinaldo Piaggio 34Pontedera (PI)56025Italy
- Department of Excellence in Robotics and AIScuola Superiore Sant'AnnaPiazza Martiri della Libertà 33Pisa (PI)56127Italy
| | - Marco Carlotti
- Center for Micro‐BioRoboticsItalian Institute of TechnologyViale Rinaldo Piaggio 34Pontedera (PI)56025Italy
| | - Andrea Mariani
- The BioRobotics InstituteScuola Superiore Sant'AnnaViale Rinaldo Piaggio 34Pontedera (PI)56025Italy
- Department of Excellence in Robotics and AIScuola Superiore Sant'AnnaPiazza Martiri della Libertà 33Pisa (PI)56127Italy
| | - Arianna Menciassi
- The BioRobotics InstituteScuola Superiore Sant'AnnaViale Rinaldo Piaggio 34Pontedera (PI)56025Italy
- Department of Excellence in Robotics and AIScuola Superiore Sant'AnnaPiazza Martiri della Libertà 33Pisa (PI)56127Italy
| | - Edoardo Sinibaldi
- Center for Micro‐BioRoboticsItalian Institute of TechnologyViale Rinaldo Piaggio 34Pontedera (PI)56025Italy
| | - Barbara Mazzolai
- Center for Micro‐BioRoboticsItalian Institute of TechnologyViale Rinaldo Piaggio 34Pontedera (PI)56025Italy
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22
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Mazzolai B, Walker I, Speck T. Editorial: Generation Growbots: Materials, Mechanisms, and Biomimetic Design for Growing Robots. Front Robot AI 2021; 8:711942. [PMID: 34212009 PMCID: PMC8239189 DOI: 10.3389/frobt.2021.711942] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Key Words] [Track Full Text] [Download PDF] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/19/2021] [Accepted: 05/27/2021] [Indexed: 11/15/2022] Open
Affiliation(s)
- Barbara Mazzolai
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genova, Italy
| | - Ian Walker
- Department of Electrical and Computer Engineering, Clemson University, Clemson, SC, United States
| | - Thomas Speck
- Botanic Garten and Cluster of Excellence livMatS, University of Freiburg, Freiburg, Germany
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23
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Abstract
The plant root system shows remarkably complex behaviors driven by environmental cues and internal dynamics, whose interplay remains largely unknown. A notable example is circumnutation growth movements, which are growth oscillations from side to side of the root apex. Here we describe a model capable of replicating root growth behaviors, which we used to analyze the role of circumnuntations, revealing their emergence I) under gravitropic stress, as a combination of signal propagation and sensitivity to the signal carriers; II) as a result of the interplay between gravitropic and thigmotropic responses; and III) as a behavioral strategy to detect and react to resource gradients. The latter function requires the presence of a hypothetical internal oscillator whose parameters are regulated by the perception of environmental resources.
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Affiliation(s)
- Ilya Loshchilov
- Laboratory of Intelligent Systems, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
| | | | - Barbara Mazzolai
- Center for Micro-Biorobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
| | - Dario Floreano
- Laboratory of Intelligent Systems, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
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24
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Cardini A, Pellegrino E, Declerck S, Calonne-Salmon M, Mazzolai B, Ercoli L. Direct transfer of zinc between plants is channelled by common mycorrhizal network of arbuscular mycorrhizal fungi and evidenced by changes in expression of zinc transporter genes in fungus and plant. Environ Microbiol 2021; 23:5883-5900. [PMID: 33913577 PMCID: PMC8597171 DOI: 10.1111/1462-2920.15542] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/28/2020] [Revised: 04/20/2021] [Accepted: 04/24/2021] [Indexed: 11/28/2022]
Abstract
The role that common mycorrhizal networks (CMNs) play in plant-to-plant transfer of zinc (Zn) has not yet been investigated, despite the proved functions of arbuscular mycorrhizal fungi (AMF) in crop Zn acquisition. Here, two autotrophic Medicago truncatula plants were linked by a CMN formed by Rhizophagus irregularis. Plants were grown in vitro in physically separated compartments (Donor-C and Receiver-C) and their connection ensured only by CMN. A symbiosis-defective mutant of M. truncatula was used as control in Receiver-C. Plants in both compartments were grown on Zn-free medium, and only the leaves of the donor plants were Zn fertilized. A direct transfer of Zn was demonstrated from donor leaves to receiver shoots mediated by CMN. Direct transfer of Zn was supported by changes in the expression of fungal genes, RiZRT1 and RiZnT1, and plant gene MtZIP2 in roots and MtNAS1 in roots and shoots of the receiver plants. Moreover, Zn transfer was supported by the change in expression of MtZIP14 gene in AM fungal colonized roots. This work is the first evidence of a direct Zn transfer from a donor to a receiver plant via CMN, and of a triggering of transcriptional regulation of fungal-plant genes involved in Zn transport-related processes.
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Affiliation(s)
- Alessio Cardini
- Institute of Life Sciences, Sant'Anna School of Advanced Studies, Piazza Martiri della Libertà 33, Pisa, 56127, Italy
| | - Elisa Pellegrino
- Institute of Life Sciences, Sant'Anna School of Advanced Studies, Piazza Martiri della Libertà 33, Pisa, 56127, Italy
| | - Stéphane Declerck
- Université catholique de Louvain, Earth and Life Institute, Applied Microbiology, Mycology, Croix du Sud 2, Box L7.05.06, Louvain-la-Neuve, 1348, Belgium
| | - Maryline Calonne-Salmon
- Université catholique de Louvain, Earth and Life Institute, Applied Microbiology, Mycology, Croix du Sud 2, Box L7.05.06, Louvain-la-Neuve, 1348, Belgium
| | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Viale Rinaldo Piaggio 34, 56025 Pontedera, Pisa, Italy
| | - Laura Ercoli
- Institute of Life Sciences, Sant'Anna School of Advanced Studies, Piazza Martiri della Libertà 33, Pisa, 56127, Italy
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25
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Makvandi P, Kirkby M, Hutton ARJ, Shabani M, Yiu CKY, Baghbantaraghdari Z, Jamaledin R, Carlotti M, Mazzolai B, Mattoli V, Donnelly RF. Engineering Microneedle Patches for Improved Penetration: Analysis, Skin Models and Factors Affecting Needle Insertion. Nanomicro Lett 2021; 13:93. [PMID: 34138349 PMCID: PMC8006208 DOI: 10.1007/s40820-021-00611-9] [Citation(s) in RCA: 116] [Impact Index Per Article: 38.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 11/16/2020] [Accepted: 01/05/2021] [Indexed: 05/14/2023]
Abstract
Transdermal microneedle (MN) patches are a promising tool used to transport a wide variety of active compounds into the skin. To serve as a substitute for common hypodermic needles, MNs must pierce the human stratum corneum (~ 10 to 20 µm), without rupturing or bending during penetration. This ensures that the cargo is released at the predetermined place and time. Therefore, the ability of MN patches to sufficiently pierce the skin is a crucial requirement. In the current review, the pain signal and its management during application of MNs and typical hypodermic needles are presented and compared. This is followed by a discussion on mechanical analysis and skin models used for insertion tests before application to clinical practice. Factors that affect insertion (e.g., geometry, material composition and cross-linking of MNs), along with recent advancements in developed strategies (e.g., insertion responsive patches and 3D printed biomimetic MNs using two-photon lithography) to improve the skin penetration are highlighted to provide a backdrop for future research.
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Affiliation(s)
- Pooyan Makvandi
- Istituto Italiano Di Tecnologia, Centre for Materials Interface, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy.
| | - Melissa Kirkby
- School of Pharmacy, Queen's University Belfast, 97 Lisburn Road, Belfast, BT9 7BL, UK
| | - Aaron R J Hutton
- School of Pharmacy, Queen's University Belfast, 97 Lisburn Road, Belfast, BT9 7BL, UK
| | - Majid Shabani
- Istituto Italiano Di Tecnologia, Centre for Materials Interface, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
| | - Cynthia K Y Yiu
- Paediatric Dentistry and Orthodontics, Faculty of Dentistry, The University of Hong Kong, Prince Philip Dental Hospital, Hong Kong SAR, China
| | - Zahra Baghbantaraghdari
- Department of Chemical, Materials and Industrial Production Engineering, University of Naples Federico II, 80125, Naples, Italy
| | - Rezvan Jamaledin
- Department of Chemical, Materials and Industrial Production Engineering, University of Naples Federico II, 80125, Naples, Italy
- Center for Advanced Biomaterials for Health Care (iit@CRIB), Italian Institute of Technology, 80125, Naples, Italy
| | - Marco Carlotti
- Istituto Italiano Di Tecnologia, Centre for Materials Interface, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
| | - Barbara Mazzolai
- Istituto Italiano Di Tecnologia, Centre for Materials Interface, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
| | - Virgilio Mattoli
- Istituto Italiano Di Tecnologia, Centre for Materials Interface, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy.
| | - Ryan F Donnelly
- School of Pharmacy, Queen's University Belfast, 97 Lisburn Road, Belfast, BT9 7BL, UK.
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Cardini A, Pellegrino E, White PJ, Mazzolai B, Mascherpa MC, Ercoli L. Transcriptional Regulation of Genes Involved in Zinc Uptake, Sequestration and Redistribution Following Foliar Zinc Application to Medicago sativa. Plants (Basel) 2021; 10:476. [PMID: 33802484 PMCID: PMC7998959 DOI: 10.3390/plants10030476] [Citation(s) in RCA: 11] [Impact Index Per Article: 3.7] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/22/2021] [Revised: 02/20/2021] [Accepted: 02/25/2021] [Indexed: 11/19/2022]
Abstract
Zinc (Zn) is an essential micronutrient for plants and animals, and Zn deficiency is a widespread problem for agricultural production. Although many studies have been performed on biofortification of staple crops with Zn, few studies have focused on forages. Here, the molecular mechanisms of Zn transport in alfalfa (Medicago sativa L.) were investigated following foliar Zn applications. Zinc uptake and redistribution between shoot and root were determined following application of six Zn doses to leaves. Twelve putative genes encoding proteins involved in Zn transport (MsZIP1-7, MsZIF1, MsMTP1, MsYSL1, MsHMA4, and MsNAS1) were identified and changes in their expression following Zn application were quantified using newly designed RT-qPCR assays. These assays are the first designed specifically for alfalfa and resulted in being more efficient than the ones already available for Medicago truncatula (i.e., MtZIP1-7 and MtMTP1). Shoot and root Zn concentration was increased following foliar Zn applications ≥ 0.1 mg plant-1. Increased expression of MsZIP2, MsHMA4, and MsNAS1 in shoots, and of MsZIP2 and MsHMA4 in roots was observed with the largest Zn dose (10 mg Zn plant-1). By contrast, MsZIP3 was downregulated in shoots at Zn doses ≥ 0.1 mg plant-1. Three functional gene modules, involved in Zn uptake by cells, vacuolar Zn sequestration, and Zn redistribution within the plant, were identified. These results will inform genetic engineering strategies aimed at increasing the efficiency of crop Zn biofortification.
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Affiliation(s)
- Alessio Cardini
- Institute of Life Sciences, Scuola Superiore Sant’Anna, 56127 Pisa, Italy; (A.C.); (L.E.)
| | - Elisa Pellegrino
- Institute of Life Sciences, Scuola Superiore Sant’Anna, 56127 Pisa, Italy; (A.C.); (L.E.)
| | - Philip J. White
- Department of Ecological Science, The James Hutton Institute, Invergowrie, Dundee DD2 5DA, UK;
| | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, 56025 Pisa, Italy;
| | - Marco C. Mascherpa
- Istituto di Chimica dei Composti Organo Metallici, National Research Council (CNR), 56124 Pisa, Italy;
| | - Laura Ercoli
- Institute of Life Sciences, Scuola Superiore Sant’Anna, 56127 Pisa, Italy; (A.C.); (L.E.)
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Khorsandi D, Fahimipour A, Abasian P, Saber SS, Seyedi M, Ghanavati S, Ahmad A, De Stephanis AA, Taghavinezhaddilami F, Leonova A, Mohammadinejad R, Shabani M, Mazzolai B, Mattoli V, Tay FR, Makvandi P. 3D and 4D printing in dentistry and maxillofacial surgery: Printing techniques, materials, and applications. Acta Biomater 2021; 122:26-49. [PMID: 33359299 DOI: 10.1016/j.actbio.2020.12.044] [Citation(s) in RCA: 109] [Impact Index Per Article: 36.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/23/2020] [Revised: 12/16/2020] [Accepted: 12/17/2020] [Indexed: 12/12/2022]
Abstract
3D and 4D printing are cutting-edge technologies for precise and expedited manufacturing of objects ranging from plastic to metal. Recent advances in 3D and 4D printing technologies in dentistry and maxillofacial surgery enable dentists to custom design and print surgical drill guides, temporary and permanent crowns and bridges, orthodontic appliances and orthotics, implants, mouthguards for drug delivery. In the present review, different 3D printing technologies available for use in dentistry are highlighted together with a critique on the materials available for printing. Recent reports of the application of these printed platformed are highlighted to enable readers appreciate the progress in 3D/4D printing in dentistry.
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Mishra AK, Wallin TJ, Pan W, Xu P, Wang K, Giannelis EP, Mazzolai B, Shepherd RF. Autonomic perspiration in 3D-printed hydrogel actuators. Sci Robot 2021; 5:5/38/eaaz3918. [PMID: 33022596 DOI: 10.1126/scirobotics.aaz3918] [Citation(s) in RCA: 75] [Impact Index Per Article: 25.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/05/2019] [Accepted: 12/17/2019] [Indexed: 12/13/2022]
Abstract
In both biological and engineered systems, functioning at peak power output for prolonged periods of time requires thermoregulation. Here, we report a soft hydrogel-based actuator that can maintain stable body temperatures via autonomic perspiration. Using multimaterial stereolithography, we three-dimensionally print finger-like fluidic elastomer actuators having a poly-N-isopropylacrylamide (PNIPAm) body capped with a microporous (~200 micrometers) polyacrylamide (PAAm) dorsal layer. The chemomechanical response of these hydrogel materials is such that, at low temperatures (<30°C), the pores are sufficiently closed to allow for pressurization and actuation, whereas at elevated temperatures (>30°C), the pores dilate to enable localized perspiration in the hydraulic actuator. Such sweating actuators exhibit a 600% enhancement in cooling rate (i.e., 39.1°C minute-1) over similar non-sweating devices. Combining multiple finger actuators into a single device yields soft robotic grippers capable of both mechanically and thermally manipulating various heated objects. The measured thermoregulatory performance of these sweating actuators (~107 watts kilogram-1) greatly exceeds the evaporative cooling capacity found in the best animal systems (~35 watts kilogram-1) at the cost of a temporary decrease in actuation efficiency.
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Affiliation(s)
- Anand K Mishra
- Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14850, USA
| | - Thomas J Wallin
- Facebook Reality Labs, Redmond, WA 98052, USA.,Department of Materials Science and Engineering, Cornell University, Ithaca, NY 14850, USA
| | - Wenyang Pan
- Department of Materials Science and Engineering, Cornell University, Ithaca, NY 14850, USA
| | - Patricia Xu
- Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14850, USA
| | - Kaiyang Wang
- Department of Materials Science and Engineering, Cornell University, Ithaca, NY 14850, USA
| | - Emmanuel P Giannelis
- Department of Materials Science and Engineering, Cornell University, Ithaca, NY 14850, USA
| | - Barbara Mazzolai
- Center for Micro-Biorobotics, Istituto Italiano di Technologia, Pontedera, PI 56025 Pisa, Italy
| | - Robert F Shepherd
- Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14850, USA.
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Lunni D, Giordano G, Pignatelli F, Filippeschi C, Linari S, Sinibaldi E, Mazzolai B. Light-assisted electrospinning monitoring for soft polymeric nanofibers. Sci Rep 2020; 10:16341. [PMID: 33004968 PMCID: PMC7529797 DOI: 10.1038/s41598-020-73252-4] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/12/2020] [Accepted: 09/10/2020] [Indexed: 11/08/2022] Open
Abstract
A real-time tool to monitor the electrospinning process is fundamental to improve the reproducibility and quality of the resulting nanofibers. Hereby, a novel optical system integrated through coaxial needle is proposed as monitoring tool for electrospinning process. An optical fiber (OF) is inserted in the inner needle, while the external needle is used to feed the polymeric solution (PEO/water) drawn by the process. The light exiting the OF passes through the solution drop at the needle tip and gets coupled to the electrospun fiber (EF) while travelling towards the nanofibers collector. Numerical and analytical models were developed to assess the feasibility and robustness of the light coupling. Experimental tests demonstrated the influence of the process parameters on the EF waveguide properties, in terms of waveguide length (L), and on the nanofibers diameter distribution, in terms of mean [Formula: see text] and normalized standard deviation [Formula: see text]. Data analysis reveals good correlation between L and [Formula: see text] (respectively maximum correlation coefficients of [Formula: see text] = 0.88 and [Formula: see text] = 0.84), demonstrating the potential for effectively using the proposed light-assisted technology as real-time visual feedback on the process. The developed system can provide an interesting option for monitoring industrial electrospinning systems using multi- or moving needles with impact in the scaling-up of innovative nanofibers for soft systems.
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Affiliation(s)
- Dario Lunni
- Center for Micro-BioRobotics, Istituto Italiano Di Tecnologia, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy.
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy.
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, 56127, Pisa, PI, Italy.
| | - Goffredo Giordano
- Center for Micro-BioRobotics, Istituto Italiano Di Tecnologia, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy
- Department of Excellence in Robotics and AI, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, 56127, Pisa, PI, Italy
| | - Francesca Pignatelli
- Center for Micro-BioRobotics, Istituto Italiano Di Tecnologia, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy
| | - Carlo Filippeschi
- Center for Micro-BioRobotics, Istituto Italiano Di Tecnologia, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy
| | - Stefano Linari
- Linari Engineering S.R.L., Via Umberto Forti 24/14, 56121, Pisa, PI, Italy
| | - Edoardo Sinibaldi
- Center for Micro-BioRobotics, Istituto Italiano Di Tecnologia, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy.
| | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano Di Tecnologia, Viale Rinaldo Piaggio 34, 56025, Pontedera, PI, Italy.
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Mazzolai B, Tramacere F, Fiorello I, Margheri L. The Bio-Engineering Approach for Plant Investigations and Growing Robots. A Mini-Review. Front Robot AI 2020; 7:573014. [PMID: 33501333 PMCID: PMC7806088 DOI: 10.3389/frobt.2020.573014] [Citation(s) in RCA: 9] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/15/2020] [Accepted: 08/18/2020] [Indexed: 12/14/2022] Open
Abstract
It has been 10 years since the publication of the first article looking at plants as a biomechatronic system and as model for robotics. Now, roboticists have started to look at plants differently and consider them as a model in the field of bioinspired robotics. Despite plants have been seen traditionally as passive entities, in reality they are able to grow, move, sense, and communicate. These features make plants an exceptional example of morphological computation - with probably the highest level of adaptability among all living beings. They are a unique model to design robots that can act in- and adapt to- unstructured, extreme, and dynamically changing environments exposed to sudden or long-term events. Although plant-inspired robotics is still a relatively new field, it has triggered the concept of growing robotics: an emerging area in which systems are designed to create their own body, adapt their morphology, and explore different environments. There is a reciprocal interest between biology and robotics: plants represent an excellent source of inspiration for achieving new robotic abilities, and engineering tools can be used to reveal new biological information. This way, a bidirectional biology-robotics strategy provides mutual benefits for both disciplines. This mini-review offers a brief overview of the fundamental aspects related to a bioengineering approach in plant-inspired robotics. It analyses the works in which both biological and engineering aspects have been investigated, and highlights the key elements of plants that have been milestones in the pioneering field of growing robots.
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Affiliation(s)
- Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
| | - Francesca Tramacere
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
| | - Isabella Fiorello
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
- The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
| | - Laura Margheri
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
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Abstract
This paper aims to propose a novel approach to model the dynamics of objects that move within the soil, e.g. plants roots. One can assume that external forces are significant only at the tip of the roots, where the plant's growth is actuated. We formulate an optimal control problem that minimises the energy spent by a growing root subject to physical constraints imposed by the surrounding soil at the tip. We study the motion strategy adopted by plant roots to facilitate penetration into the soil, which we hypothesize to be a circumnutation movement. By solving the proposed optimal control problem numerically, we validate the hypothesis that plant roots adopt a circumnutation motion pattern to reduce soil penetration resistance during growth. The proposed formalisation could be applied to replicate such a biological behaviour in robotic systems, to adopt the most efficient strategy for autonomous devices in soil exploration.
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Affiliation(s)
- Fabio Tedone
- Gran Sasso Science Institute (GSSI), viale F. Crispi 7, 67100, L'Aquila, Italy. Center for Micro-Biorobotics, Istituto Italiano di Tecnologia (IIT), Viale Rinaldo Piaggio 34, 56025, Pontedera, Italy
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Babu SPM, Visentin F, Sadeghi A, Mondini A, Mazzolai B. A Soft Sensorized Foot Module to Understand Anisotropic Terrains During Soft Robot Locomotion. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2986983] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Di Natali C, Sadeghi A, Mondini A, Bottenberg E, Hartigan B, De Eyto A, O'Sullivan L, Rocon E, Stadler K, Mazzolai B, Caldwell DG, Ortiz J. Pneumatic Quasi-Passive Actuation for Soft Assistive Lower Limbs Exoskeleton. Front Neurorobot 2020; 14:31. [PMID: 32714175 PMCID: PMC7344163 DOI: 10.3389/fnbot.2020.00031] [Citation(s) in RCA: 22] [Impact Index Per Article: 5.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/19/2019] [Accepted: 05/06/2020] [Indexed: 12/20/2022] Open
Abstract
There is a growing international interest in developing soft wearable robotic devices to improve mobility and daily life autonomy as well as for rehabilitation purposes. Usability, comfort and acceptance of such devices will affect their uptakes in mainstream daily life. The XoSoft EU project developed a modular soft lower-limb exoskeleton to assist people with low mobility impairments. This paper presents the bio-inspired design of a soft, modular exoskeleton for lower limb assistance based on pneumatic quasi-passive actuation. The design of a modular reconfigurable prototype and its performance are presented. This actuation centers on an active mechanical element to modulate the assistance generated by a traditional passive component, in this case an elastic belt. This study assesses the feasibility of this type of assistive device by evaluating the energetic outcomes on a healthy subject during a walking task. Human-exoskeleton interaction in relation to task-based biological power assistance and kinematics variations of the gait are evaluated. The resultant assistance, in terms of overall power ratio (Λ) between the exoskeleton and the assisted joint, was 26.6% for hip actuation, 9.3% for the knee and 12.6% for the ankle. The released maximum power supplied on each articulation, was 113.6% for the hip, 93.2% for the knee, and 150.8% for the ankle.
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Affiliation(s)
- Christian Di Natali
- XoLab, Department of ADVR-IIT Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Ali Sadeghi
- Department of Biomechanical Engineering, University of Twente, Enschede, Netherlands
| | - Alessio Mondini
- Department of CMBR-IIT Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
| | - Eliza Bottenberg
- Smart Functional Materials Research Group, Saxion University of Applied Sciences, Enschede, Netherlands
| | | | - Adam De Eyto
- Design Factors Group, University of Limerick, Limerick, Ireland
| | | | - Eduardo Rocon
- Consejo Superior de Investigaciones Cientificas (CSIC), Madrid, Spain
| | - Konrad Stadler
- Institute of Mechatronic Systems, ZHAW Zurich University of Applied Sciences, Winterthur, Switzerland
| | - Barbara Mazzolai
- Department of CMBR-IIT Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
| | - Darwin G Caldwell
- XoLab, Department of ADVR-IIT Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Jesús Ortiz
- XoLab, Department of ADVR-IIT Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy
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Cardini A, Pellegrino E, Del Dottore E, Gamper HA, Mazzolai B, Ercoli L. HyLength: a semi-automated digital image analysis tool for measuring the length of roots and fungal hyphae of dense mycelia. Mycorrhiza 2020; 30:229-242. [PMID: 32300867 DOI: 10.1007/s00572-020-00956-w] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/10/2020] [Accepted: 03/30/2020] [Indexed: 06/11/2023]
Abstract
In plant-fungus phenotyping, determining fungal hyphal and plant root lengths by digital image analysis can reduce labour and increase data reproducibility. However, the degree of software sophistication is often prohibitive and manual measuring is still used, despite being very time-consuming. We developed the HyLength tool for measuring the lengths of hyphae and roots in in vivo and in vitro systems. The HyLength was successfully validated against manual measures of roots and fungal hyphae obtained from all systems. Compared with manual methods, the HyLength underestimated Medicago sativa roots in the in vivo system and Rhizophagus irregularis hyphae in the in vitro system by about 12 cm per m and allowed to save about 1 h for a single experimental unit. As regards hyphae of R. irregularis in the in vivo system, the HyLength overestimated the length by about 21 cm per m compared with manual measures, but time saving was up to 20.5 h per single experimental unit. Finally, with hyphae of Aspergillus oryzae, the underestimation was about 8 cm per m with a time saving of about 10 min for a single germinating spore. By benchmarking the HyLength against the AnaMorf plugin of the ImageJ/Fiji, we found that the HyLength performed better for dense fungal hyphae, also strongly reducing the measuring time. The HyLength can allow measuring the length over a whole experimental unit, eliminating the error due to sub-area selection by the user and allowing processing a high number of samples. Therefore, we propose the HyLength as a useful freeware tool for measuring fungal hyphae of dense mycelia.
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Affiliation(s)
- Alessio Cardini
- Institute of Life Sciences, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, 56127, Pisa, Italy
| | - Elisa Pellegrino
- Institute of Life Sciences, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, 56127, Pisa, Italy.
| | - Emanuela Del Dottore
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
| | - Hannes A Gamper
- Institute of Life Sciences, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, 56127, Pisa, Italy
- Free University of Bozen-Bolzano, Faculty of Science and Technology, Universitätsplatz 5 - piazza Università 5, 39100, Bozen-Bolzano, Italy
| | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
| | - Laura Ercoli
- Institute of Life Sciences, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, 56127, Pisa, Italy
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Greco G, Bosia F, Tramacere F, Mazzolai B, Pugno NM. The role of hairs in the adhesion of octopus suckers: a hierarchical peeling approach. Bioinspir Biomim 2020; 15:035006. [PMID: 32018231 DOI: 10.1088/1748-3190/ab72da] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
Organisms like the octopus or the clingfish are a precious source of inspiration for the design of innovative adhesive systems based on suction cups, but a complete mechanical description of their attachment process is still lacking. In this paper, we exploit the recent discovery of the presence of hairs in the acetabulum roof of octopus suction cups to revise the current model for its adhesion to the acetabulum wall. We show how this additional feature, which can be considered an example of a hierarchical structure, can lead to an increase of adhesive strength, based on the analysis of the cases of a simple tape and an axisymmetrical membrane adhering to a substrate. Using peeling theory, we discuss in both cases the influence of hierarchical structure and the resulting variation of geometry on the adhesive energy, highlighting how an increase in number of hierarchical levels contributes to its increment, with a corresponding improvement in functionality for the octopus suckers.
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Affiliation(s)
- Gabriele Greco
- Laboratory of Bio-inspired, Bionic, Nano, Meta Materials & Mechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Via Mesiano, 77, 38123 Trento, Italy. Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Viale Rinaldo Piaggio 34, 56025 Pontedera, Italy
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Fiorello I, Del Dottore E, Tramacere F, Mazzolai B. Taking inspiration from climbing plants: methodologies and benchmarks-a review. Bioinspir Biomim 2020; 15:031001. [PMID: 32045368 DOI: 10.1088/1748-3190/ab7416] [Citation(s) in RCA: 14] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
One of the major challenges in robotics and engineering is to develop efficient technological solutions that are able to cope with complex environments and unpredictable constraints. Taking inspiration from natural organisms is a well-known approach to tackling these issues. Climbing plants are an important, yet innovative, source of inspiration due to their ability to adapt to diverse habitats, and can be used as a model for developing robots and smart devices for exploration and monitoring, as well as for search and rescue operations. This review reports the main methodologies and approaches used by scientists to investigate and extract the features of climbing plants that are relevant to the artificial world in terms of adaptation, movement, and behaviour, and it summarizes the current available climbing plant-inspired engineering solutions.
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Affiliation(s)
- Isabella Fiorello
- The Biorobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy. Center for Micro-Biorobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
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Sadeghi A, Del Dottore E, Mondini A, Mazzolai B. Passive Morphological Adaptation for Obstacle Avoidance in a Self-Growing Robot Produced by Additive Manufacturing. Soft Robot 2020; 7:85-94. [PMID: 31592712 PMCID: PMC7049936 DOI: 10.1089/soro.2019.0025] [Citation(s) in RCA: 17] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/16/2023] Open
Abstract
This article presents strategies for the passive path and morphological adaptation of a plant-inspired growing robot that can build its own body by an additive manufacturing process. By exploiting the soft state of the thermoplastic material used by the robot to build its structure, we analyzed the ability of the robot to change its direction of growth without the need for specific cognition and control processes. Obstacle avoidance is computed by the mechanics from the body-environment interaction. The robot can passively adapt its body to flat obstacles with an inclination of up to 50° with resulting reaction forces of up to ∼10 N. The robot also successfully performs penetration and body adaptation (with 30° obstacle inclination) in artificial soil and in a rough unstructured environment. This approach is founded on observing plant roots and how they move and passively adapt to obstacles in soil before they actively respond followed by cell division-based growth.
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Affiliation(s)
- Ali Sadeghi
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
| | | | - Alessio Mondini
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
| | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
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38
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Abstract
Bioinspired and biohybrid robots can help respond to diverse, sustainable application needs.
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39
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Abstract
Modeling soft robots is not an easy task owing to their highly nonlinear mechanical behavior. So far, several researchers have tackled the problem using different approaches, each having advantages and drawbacks in terms of accuracy, ease of implementation, and computational burden. The soft robotics community is currently working to develop a unified framework for modeling. Our contribution in this direction consists of a novel dimensionless quantity that we call the softness distribution index (SDI). The SDI for a given soft body is computed based on the distribution of its structural properties. We show that the index can serve as a tool in the choice of a modeling technique among multiple approaches suggested in literature. At the moment, the investigation is limited to bodies performing planar bending. The aim of this work is twofold: (i) to highlight the importance of the distribution of the geometrical and material properties of a soft robotic link/body throughout its structure; and (ii) to demonstrate that a classification based on this distribution provides guidelines for the modeling.
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Affiliation(s)
- Giovanna A Naselli
- Istituto Italiano di Tecnologia, Center for Micro-BioRobotics (CMBR), Pisa, Italy
| | - Barbara Mazzolai
- Istituto Italiano di Tecnologia, Center for Micro-BioRobotics (CMBR), Pisa, Italy
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Meder F, Naselli GA, Sadeghi A, Mazzolai B. Remotely Light-Powered Soft Fluidic Actuators Based on Plasmonic-Driven Phase Transitions in Elastic Constraint. Adv Mater 2019; 31:e1905671. [PMID: 31682053 DOI: 10.1002/adma.201905671] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/31/2019] [Revised: 10/02/2019] [Indexed: 06/10/2023]
Abstract
Materials capable of actuation through remote stimuli are crucial for untethering soft robotic systems from hardware for powering and control. Fluidic actuation is one of the most applied and versatile actuation strategies in soft robotics. Here, the first macroscale soft fluidic actuator is derived that operates remotely powered and controlled by light through a plasmonically induced phase transition in an elastomeric constraint. A multiphase assembly of a liquid layer of concentrated gold nanoparticles in a silicone or styrene-ethylene-butylene-styrene elastic pocket forms the actuator. Upon laser excitation, the nanoparticles convert light of specific wavelength into heat and initiate a liquid-to-gas phase transition. The related pressure increase inflates the elastomers in response to laser wavelength, intensity, direction, and on-off pulses. During laser-off periods, heating halts and condensation of the gas phase renders the actuation reversible. The versatile multiphase materials actuate-like soft "steam engines"-a variety of soft robotic structures (soft valve, pnue-net structure, crawling robot, pump) and are capable of operating in different environments (air, water, biological tissue) in a single configuration. Tailored toward the near-infrared window of biological tissue, the structures actuate also through animal tissue for potential medical soft robotic applications.
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Affiliation(s)
- Fabian Meder
- Istituto Italiano di Tecnologia, Center for Micro-BioRobotics, Viale Rinaldo Piaggio 34, Pontedera, 56025, Pisa, Italy
| | - Giovanna Adele Naselli
- Istituto Italiano di Tecnologia, Center for Micro-BioRobotics, Viale Rinaldo Piaggio 34, Pontedera, 56025, Pisa, Italy
| | - Ali Sadeghi
- Istituto Italiano di Tecnologia, Center for Micro-BioRobotics, Viale Rinaldo Piaggio 34, Pontedera, 56025, Pisa, Italy
| | - Barbara Mazzolai
- Istituto Italiano di Tecnologia, Center for Micro-BioRobotics, Viale Rinaldo Piaggio 34, Pontedera, 56025, Pisa, Italy
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Dellaquila A, Greco G, Campodoni E, Mazzocchi M, Mazzolai B, Tampieri A, Pugno NM, Sandri M. Optimized production of a high‐performance hybrid biomaterial: biomineralized spider silk for bone tissue engineering. J Appl Polym Sci 2019. [DOI: 10.1002/app.48739] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022]
Affiliation(s)
- Alessandra Dellaquila
- ISTEC CNR—Institute of Science and Technology for CeramicsNational Research Council, Via Granarolo 64 Faenza 48018 Italy
| | - Gabriele Greco
- Laboratory of Bio‐inspired & Graphene Nanomechanics, Department of Civil, Environmental and Mechanical EngineeringUniversity of Trento, Via Mesiano 77 Trento 38123 Italy
- Center for Micro‐BioRobotics@SSSAIstituto Italiano di Tecnologia, Viale Rinaldo Piaggio 34 Pontedera I‐56025 Italy
| | - Elisabetta Campodoni
- ISTEC CNR—Institute of Science and Technology for CeramicsNational Research Council, Via Granarolo 64 Faenza 48018 Italy
| | - Mauro Mazzocchi
- ISTEC CNR—Institute of Science and Technology for CeramicsNational Research Council, Via Granarolo 64 Faenza 48018 Italy
| | - Barbara Mazzolai
- Center for Micro‐BioRobotics@SSSAIstituto Italiano di Tecnologia, Viale Rinaldo Piaggio 34 Pontedera I‐56025 Italy
| | - Anna Tampieri
- ISTEC CNR—Institute of Science and Technology for CeramicsNational Research Council, Via Granarolo 64 Faenza 48018 Italy
| | - Nicola M. Pugno
- Laboratory of Bio‐inspired & Graphene Nanomechanics, Department of Civil, Environmental and Mechanical EngineeringUniversity of Trento, Via Mesiano 77 Trento 38123 Italy
- School of Engineering and Materials ScienceQueen Mary University of London, Mile End Road, E1 4NS London United Kingdom
- Ket‐LabEdoardo Amaldi Foundation, Via del Politecnico snc Rome 00133 Italy
| | - Monica Sandri
- ISTEC CNR—Institute of Science and Technology for CeramicsNational Research Council, Via Granarolo 64 Faenza 48018 Italy
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Liakos IL, Menager C, Guigo N, Holban AM, Iordache F, Pignatelli F, Grumezescu AM, Mazzolai B, Sbirrazzuoli N. Suberin/trans-Cinnamaldehyde Oil Nanoparticles with Antimicrobial Activity and Anticancer Properties When Loaded with Paclitaxel. ACS Appl Bio Mater 2019; 2:3484-3497. [DOI: 10.1021/acsabm.9b00408] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/06/2023]
Affiliation(s)
- Ioannis L. Liakos
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia (IIT), Viale Rinaldo Piaggio 34, Pontedera, Pisa, 56025, Italy
| | - Charlotte Menager
- Eco-Friendly Materials and Polymers Team, Institute of Chemistry of Nice, UMR CNRS 7272, University Nice Sophia Antipolis − University Côte d’Azur, 28 avenue Valrose, 06108 Nice Cedex 2, France
| | - Nathanael Guigo
- Eco-Friendly Materials and Polymers Team, Institute of Chemistry of Nice, UMR CNRS 7272, University Nice Sophia Antipolis − University Côte d’Azur, 28 avenue Valrose, 06108 Nice Cedex 2, France
| | - Alina Maria Holban
- Department of Microbiology and Immunology, Faculty of Biology, University of Bucharest, Aleea Portocalelor, No. 1-3, Bucharest 060101, Romania
- Institute of Cellular Biology and Pathology “Nicolae Simionescu” of Romanian Academy, B.P. Hasdeu, 8, Bucharest, 050568, Romania
| | - Florin Iordache
- University of Agronomic Sciences and Veterinary Medicine, Faculty of Veterinary Medicine, Splaiul Independentei, nr. 105, Bucharest 050097, Romania
- Institute of Cellular Biology and Pathology “Nicolae Simionescu” of Romanian Academy, B.P. Hasdeu, 8, Bucharest, 050568, Romania
| | - Francesca Pignatelli
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia (IIT), Viale Rinaldo Piaggio 34, Pontedera, Pisa, 56025, Italy
| | - Alexandru Mihai Grumezescu
- Department of Science and Engineering of Oxide Materials and Nanomaterials, Faculty of Applied Chemistry and Materials Science, University Politehnica of Bucharest, Polizu Street No. 1-7, Bucharest 011061, Romania
| | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia (IIT), Viale Rinaldo Piaggio 34, Pontedera, Pisa, 56025, Italy
| | - Nicolas Sbirrazzuoli
- Eco-Friendly Materials and Polymers Team, Institute of Chemistry of Nice, UMR CNRS 7272, University Nice Sophia Antipolis − University Côte d’Azur, 28 avenue Valrose, 06108 Nice Cedex 2, France
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43
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Kim J, Mishra AK, Limosani R, Scafuro M, Cauli N, Santos-Victor J, Mazzolai B, Cavallo F. Control strategies for cleaning robots in domestic applications: A comprehensive review. INT J ADV ROBOT SYST 2019. [DOI: 10.1177/1729881419857432] [Citation(s) in RCA: 19] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022] Open
Abstract
Service robots are built and developed for various applications to support humans as companion, caretaker, or domestic support. As the number of elderly people grows, service robots will be in increasing demand. Particularly, one of the main tasks performed by elderly people, and others, is the complex task of cleaning. Therefore, cleaning tasks, such as sweeping floors, washing dishes, and wiping windows, have been developed for the domestic environment using service robots or robot manipulators with several control approaches. This article is primarily focused on control methodology used for cleaning tasks. Specifically, this work mainly discusses classical control and learning-based controlled methods. The classical control approaches, which consist of position control, force control, and impedance control , are commonly used for cleaning purposes in a highly controlled environment. However, classical control methods cannot be generalized for cluttered environment so that learning-based control methods could be an alternative solution. Learning-based control methods for cleaning tasks can encompass three approaches: learning from demonstration (LfD), supervised learning (SL), and reinforcement learning (RL). These control approaches have their own capabilities to generalize the cleaning tasks in the new environment. For example, LfD, which many research groups have used for cleaning tasks, can generate complex cleaning trajectories based on human demonstration. Also, SL can support the prediction of dirt areas and cleaning motion using large number of data set. Finally, RL can learn cleaning actions and interact with the new environment by the robot itself. In this context, this article aims to provide a general overview of robotic cleaning tasks based on different types of control methods using manipulator. It also suggest a description of the future directions of cleaning tasks based on the evaluation of the control approaches.
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Affiliation(s)
- Jaeseok Kim
- Istituto di BioRobotica, Scuola Superiore Sant’Anna, Pontedera, Italy
| | - Anand Kumar Mishra
- Centro di Micro-BioRobotica, Istituto Italiano di Tecnologia, Pontedera, Italy
| | - Raffaele Limosani
- Istituto di BioRobotica, Scuola Superiore Sant’Anna, Pontedera, Italy
| | - Marco Scafuro
- Istituto di BioRobotica, Scuola Superiore Sant’Anna, Pontedera, Italy
| | - Nino Cauli
- Institute for Systems and Robotics, Instituto Superior Tecnico, Universidade de Lisboa, Lisboa, Portugal
| | - Jose Santos-Victor
- Institute for Systems and Robotics, Instituto Superior Tecnico, Universidade de Lisboa, Lisboa, Portugal
| | - Barbara Mazzolai
- Centro di Micro-BioRobotica, Istituto Italiano di Tecnologia, Pontedera, Italy
| | - Filippo Cavallo
- Istituto di BioRobotica, Scuola Superiore Sant’Anna, Pontedera, Italy
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Del Dottore E, Mondini A, Sadeghi A, Mazzolai B. Characterization of the Growing From the Tip as Robot Locomotion Strategy. Front Robot AI 2019; 6:45. [PMID: 33501061 PMCID: PMC7805678 DOI: 10.3389/frobt.2019.00045] [Citation(s) in RCA: 8] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/08/2018] [Accepted: 05/31/2019] [Indexed: 11/24/2022] Open
Abstract
Growing robots are a new class of robots able to move in the environment exploiting a growing from the tip process (movement by growing). Thanks to this property, these robots are able to navigate 3D environments while negotiating confined spaces and large voids by adapting their body. During the exploration of the environment, the tip of the robot is able to move in any direction and can be kinematically considered as a non-holonomic mobile system. In this paper, we show the kinematics of robot growing at its tip level. We also present the affordable workspace analyzed by an evaluation of feasible trajectories toward target poses. The geometrical key parameters imposing constraints on growing robots' workspace are discussed, in view of facing different possible application scenarios. The proposed kinematics was applied to a plant-inspired growing robot moving in a 3D environment in simulation, obtaining ~2 cm error after 1 m of displacement. With appropriate parametrization, the proposed kinematic model is able to describe the motion from the tip in robots able to grow.
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Affiliation(s)
| | | | | | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
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45
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Greco G, Pantano MF, Mazzolai B, Pugno NM. Imaging and mechanical characterization of different junctions in spider orb webs. Sci Rep 2019; 9:5776. [PMID: 30962468 PMCID: PMC6453893 DOI: 10.1038/s41598-019-42070-8] [Citation(s) in RCA: 19] [Impact Index Per Article: 3.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/07/2018] [Accepted: 03/05/2019] [Indexed: 11/20/2022] Open
Abstract
Spider silk and spider orb webs are among the most studied biological materials and structures owing to their outstanding mechanical properties. A key feature that contributes significantly to the robustness and capability to absorb high kinetic energy of spider webs is the presence of junctions connecting different silk threads. Surprisingly, in spite of their fundamental function, the mechanics of spider web junctions have never been reported. Herein, through mechanical characterization and imaging, we show for the first time that spider orb webs host two different types of junction, produced by different silk glands, which have different morphology, and load bearing capability. These differences can be explained in view of the different roles they play in the web, i.e. allowing for a localized damage control or anchoring the whole structure to the surrounding environment.
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Affiliation(s)
- Gabriele Greco
- Laboratory of Bio-Inspired & Graphene Nanomechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Via Mesiano, 77, 38123, Trento, Italy
- Center for Micro-BioRobotics@SSSA, Istituto Italiano di Tecnologia, Viale Rinaldo Piaggio 34, I-56025, Pontedera, Italy
| | - Maria F Pantano
- Laboratory of Bio-Inspired & Graphene Nanomechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Via Mesiano, 77, 38123, Trento, Italy
| | - Barbara Mazzolai
- Center for Micro-BioRobotics@SSSA, Istituto Italiano di Tecnologia, Viale Rinaldo Piaggio 34, I-56025, Pontedera, Italy
| | - Nicola M Pugno
- Laboratory of Bio-Inspired & Graphene Nanomechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Via Mesiano, 77, 38123, Trento, Italy.
- School of Engineering and Materials Science, Queen Mary University of London, Mile End Road, E1 4NS, London, United Kingdom.
- Ket-Lab, Edoardo Amaldi Foundation, Via del Politecnico snc, 00133, Rome, Italy.
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Abstract
In Nature, the adaptability of many organisms and their capability to survive in challenging and dynamically changing environments are closely linked to their characteristics and the morphology of their body parts [...].
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Affiliation(s)
- Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, 56025 Pontedera, Italy.
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47
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Must I, Sinibaldi E, Mazzolai B. A variable-stiffness tendril-like soft robot based on reversible osmotic actuation. Nat Commun 2019; 10:344. [PMID: 30664648 PMCID: PMC6341089 DOI: 10.1038/s41467-018-08173-y] [Citation(s) in RCA: 59] [Impact Index Per Article: 11.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/13/2018] [Accepted: 12/18/2018] [Indexed: 01/19/2023] Open
Abstract
Soft robots hold promise for well-matched interactions with delicate objects, humans and unstructured environments owing to their intrinsic material compliance. Movement and stiffness modulation, which is challenging yet needed for an effective demonstration, can be devised by drawing inspiration from plants. Plants use a coordinated and reversible modulation of intracellular turgor (pressure) to tune their stiffness and achieve macroscopic movements. Plant-inspired osmotic actuation was recently proposed, yet reversibility is still an open issue hampering its implementation, also in soft robotics. Here we show a reversible osmotic actuation strategy based on the electrosorption of ions on flexible porous carbon electrodes driven at low input voltages (1.3 V). We demonstrate reversible stiffening (~5-fold increase) and actuation (~500 deg rotation) of a tendril-like soft robot (diameter ~1 mm). Our approach highlights the potential of plant-inspired technologies for developing soft robots based on biocompatible materials and safe voltages making them appealing for prospective applications.
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Affiliation(s)
- Indrek Must
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia (IIT), Viale R. Piaggio 34, 56025, Pontedera, Italy
- Institute of Technology, University of Tartu, Nooruse 1, 50411, Tartu, Estonia
| | - Edoardo Sinibaldi
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia (IIT), Viale R. Piaggio 34, 56025, Pontedera, Italy.
| | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia (IIT), Viale R. Piaggio 34, 56025, Pontedera, Italy.
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Sareh S, Althoefer K, Li M, Noh Y, Tramacere F, Sareh P, Mazzolai B, Kovac M. Anchoring like octopus: biologically inspired soft artificial sucker. J R Soc Interface 2018; 14:rsif.2017.0395. [PMID: 29070591 DOI: 10.1098/rsif.2017.0395] [Citation(s) in RCA: 37] [Impact Index Per Article: 6.2] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/30/2017] [Accepted: 09/27/2017] [Indexed: 11/12/2022] Open
Abstract
This paper presents a robotic anchoring module, a sensorized mechanism for attachment to the environment that can be integrated into robots to enable or enhance various functions such as robot mobility, remaining on location or its ability to manipulate objects. The body of the anchoring module consists of two portions with a mechanical stiffness transition from hard to soft. The hard portion is capable of containing vacuum pressure used for actuation while the soft portion is highly conformable to create a seal to contact surfaces. The module is integrated with a single sensory unit which exploits a fibre-optic sensing principle to seamlessly measure proximity and tactile information for use in robot motion planning as well as measuring the state of firmness of its anchor. In an experiment, a variable set of physical loads representing the weights of potential robot bodies were attached to the module and its ability to maintain the anchor was quantified under constant and variable vacuum pressure signals. The experiment shows the effectiveness of the module in quantifying the state of firmness of the anchor and discriminating between different amounts of physical loads attached to it. The proposed anchoring module can enable many industrial and medical applications where attachment to environment is of crucial importance for robot control.
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Affiliation(s)
- Sina Sareh
- Design Robotics, School of Design, Royal College of Art, London, UK
| | - Kaspar Althoefer
- Advanced Robotics @ Queen Mary (ARQ), Faculty of Science & Engineering, Queen Mary University of London, London, UK
| | - Min Li
- Institute of Intelligent Measurement & Instrument, School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an People's Republic of China
| | - Yohan Noh
- Centre for Robotics Research, Department of Informatics, King's College London, London, UK
| | - Francesca Tramacere
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
| | - Pooya Sareh
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, UK
| | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
| | - Mirko Kovac
- Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, London, UK
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Mishra AK, Tramacere F, Guarino R, Pugno NM, Mazzolai B. A study on plant root apex morphology as a model for soft robots moving in soil. PLoS One 2018; 13:e0197411. [PMID: 29874267 PMCID: PMC5991344 DOI: 10.1371/journal.pone.0197411] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/05/2018] [Accepted: 05/01/2018] [Indexed: 11/27/2022] Open
Abstract
Plants use many strategies to move efficiently in soil, such as growth from the tip, tropic movements, and morphological changes. In this paper, we propose a method to translate morphological features of Zea mays roots into a new design of soft robots that will be able to move in soil. The method relies on image processing and curve fitting techniques to extract the profile of Z. mays primary root. We implemented an analytic translation of the root profile in a 3D model (CAD) to fabricate root-like probes by means of 3D printing technology. Then, we carried out a comparative analysis among the artificial root-like probe and probes with different tip shapes (cylindrical, conical, elliptical, and parabolic) and diameters (11, 9, 7, 5, and 3 mm). The results showed that the energy consumption and the penetration force of the bioinspired probe are better with respect to the other shapes for all the diameters of the developed probes. For 100 mm of penetration depth and 7 mm of probe diameter, the energy consumption of the bioinspired probe is 89% lesser with respect to the cylindrical probe and 26% lesser with respect to the conical probe. The penetration performance of the considered tip shapes was evaluated also by means of numerical simulations, obtaining a good agreement with the experimental results. Additional investigations on plant root morphology, movement strategies, and material properties can allow the development of innovative bioinspired solutions exploitable in challenging environments. This research can bring to breakthrough scenarios in different fields, such as exploration tasks, environmental monitoring, geotechnical studies, and medical applications.
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Affiliation(s)
- Anand Kumar Mishra
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
- The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, Italy
- * E-mail: (AKM); (FT); (BM)
| | - Francesca Tramacere
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
- * E-mail: (AKM); (FT); (BM)
| | - Roberto Guarino
- Laboratory of Bio-Inspired & Graphene Nanomechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Trento, Italy
| | - Nicola Maria Pugno
- Laboratory of Bio-Inspired & Graphene Nanomechanics, Department of Civil, Environmental and Mechanical Engineering, University of Trento, Trento, Italy
- Ket Lab, Edoardo Amaldi Foundation, Italian Space Agency, Rome, Italy
- School of Engineering and Materials Science, Queen Mary University of London, London, United Kingdom
| | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
- * E-mail: (AKM); (FT); (BM)
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Mishra AK, Degl'Innocenti A, Mazzolai B. Three-dimensional reconstruction of root shape in the moth orchid Phalaenopsis sp.: a biomimicry methodology for robotic applications. BMC Res Notes 2018; 11:258. [PMID: 29695266 PMCID: PMC5918553 DOI: 10.1186/s13104-018-3371-0] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/12/2018] [Accepted: 04/20/2018] [Indexed: 11/18/2022] Open
Abstract
Objective Within the field of biorobotics, an emerging branch is plant-inspired robotics. Some effort exists in particular towards the production of digging robots that mimic roots; for these, a deeper comprehension of the role of root tip geometry in excavation would be highly desirable. Here we demonstrate a photogrammetry-based pipeline for the production of computer and manufactured replicas of moth orchid root apexes. Results Our methods yields faithful root reproductions. This can be used either for quantitative studies aimed at comparing different root morphologies, or directly to implement a particular root shape in a biorobot. Electronic supplementary material The online version of this article (10.1186/s13104-018-3371-0) contains supplementary material, which is available to authorized users.
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Affiliation(s)
- Anand Kumar Mishra
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia (IIT), Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy.,The BioRobotics Institute, Scuola Superiore Sant'Anna (SSSA), Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy
| | - Andrea Degl'Innocenti
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia (IIT), Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy.
| | - Barbara Mazzolai
- Center for Micro-BioRobotics, Istituto Italiano di Tecnologia (IIT), Viale Rinaldo Piaggio 34, 56025, Pontedera, Pisa, Italy.
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