Computational Design of a Soft Robotic Myocardium for Biomimetic Motion and Function
Computational Design of a Soft Robotic Myocardium for Biomimetic Motion and Function
复制标题
DOI：
10.1002/adfm.202206734
复制
发表时间：
2022-08
影响因子：
19
通讯作者：
Clara Park;C. Ozturk;E. Roche
中科院分区：
文献类型：
--
作者：
Clara Park;C. Ozturk;E. Roche
包含多个致动元件的软机器人装置已经成功地再现了复杂的生物运动，从而使其在生物医学应用中具有实用性。然而，存在与软复合材料相关的固有非线性力学，其中软致动器嵌入在弹性体基质中。因此，在制造和随后的实验表征之前预测它们的整体行为可能在设计过程中以及在有效地满足功能要求和规格方面存在障碍。在这项工作中，一个计算的设计框架，优化仿生软机器人复合材料的运动和功能的演示进行软机器人心肌（心肌）的设计案例研究，特别侧重于应用程序，包括复制和协助心脏运动和功能。软机器人心肌的有限元模型的建立，其中致动器规定与各向异性应变模拟局部变形，和各种设计参数进行了研究，通过评估性能的每种配置的心室扭转，体积输出，和压力产生。然后，提出了一种优化设计，概括了心脏的生理运动和血液动力学，并使用流体-结构相互作用模型进一步探讨其血栓形成。该框架在预测其他软机器人嵌入式复合材料的性能方面具有更广泛的实用性。
Soft robotic devices containing multiple actuating elements have successfully recapitulated complex biological motion, leading to their utility in biomedical applications. However, there are inherent nonlinear mechanics associated with soft composite materials where soft actuators are embedded in elastomeric matrices. Predicting their overall behavior prior to fabrication and subsequent experimental characterization can therefore present a hurdle in the design process and in efficiently satisfying functional requirements and specifications. In this work, a computational design framework for optimizing the motion and function of biomimetic soft robotic composites is demonstrated by conducting a design case study of soft robotic cardiac muscle (myocardium) with a particular focus on applications including replicating and assisting cardiac motion and function. A finite element model of a soft robotic myocardium is built, in which actuators are prescribed with anisotropic strain to simulate local deformation, and various design parameters are investigated by evaluating the performance of each configuration in terms of ventricular twist, volumetric output, and pressure generation. Then, an optimized design is proposed that recapitulates the physiological motion and hemodynamics of the heart, and its thrombogenicity is further explored using a fluid‐structure interaction model. This framework has broader utility in predicting the performance of other soft robotic embedded composites.