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Neuromechanics of soft-bodied locomotion

软体运动的神经力学

基本信息

批准号：
1050908
负责人：
Barry Trimmer
金额：
$ 56.17万
依托单位：
Tufts University
依托单位国家：
美国
项目类别：
Continuing Grant
财政年份：
2011
资助国家：
美国
起止时间：
2011-03-01 至 2015-02-28
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1050908&HistoricalAwards=false
关键词：
Neuromechanics soft bodied locomotion

项目摘要

Animals can move through the world in remarkably complex and effective ways that are still difficult or impossible to replicate in machines. This is particularly evident in soft animals such as octopus, worms and caterpillars which can change shape as they move. A long-term goal of this research is to understand how boneless animals control their bodies and to apply this knowledge in the design and fabrication of entirely new types of robot. In effect, soft animals are working prototypes for all sorts of new devices. Using a well-established model animal (the caterpillar, Manduca sexta) these experiments will simultaneously collect data on the mechanical performance and neural signals driving behavior. New measuring devices (e.g., flexible electrode arrays, micro-force beams) and computational methods have been developed to carry out these studies. Working with engineers, these data will be used to build mathematical models that control and simulate soft animal movements. One outcome will be the first explanation of how a massively deformable structure can be controlled using a few simple commands. In addition to developing a better understanding of animal movements, these studies will have an impact in the fields of engineering and robotics. One immediate effect will be new cross-disciplinary training opportunities for biology and engineering students. A broader impact will be through the public availability of these results for scientists and engineers to develop their own soft material research tools and applications for future technologies. One potential outcome is the production of Soft Robots for diagnostic and therapeutic use inside the body or for other applications that need extreme mobility (e.g., search and rescue robots for disaster situations). These new machines could be cheap, safe, and biodegradable alternatives to current devices.

动物可以以非常复杂和有效的方式在世界上移动，这些方式仍然很难或不可能在机器中复制。这在软体动物中尤其明显，如章鱼，蠕虫和毛毛虫，它们可以在移动时改变形状。这项研究的长期目标是了解无骨动物如何控制它们的身体，并将这些知识应用于设计和制造全新类型的机器人。实际上，软体动物正在为各种新设备提供原型。这些实验将使用成熟的模型动物（毛虫，Manduca sexta）同时收集有关机械性能和驱动行为的神经信号的数据。新的测量设备（例如，柔性电极阵列、微力梁）和计算方法已经被开发来进行这些研究。与工程师合作，这些数据将用于建立控制和模拟软体动物运动的数学模型。其中一个成果将是第一次解释如何使用几个简单的命令来控制大规模变形结构。除了更好地了解动物运动，这些研究还将对工程和机器人领域产生影响。一个直接的影响将是为生物学和工程学学生提供新的跨学科培训机会。一个更广泛的影响将是通过这些结果的公开可用性，为科学家和工程师开发自己的软材料研究工具和未来技术的应用。一个潜在的结果是生产用于体内诊断和治疗的软机器人或用于其他需要极端移动性的应用（例如，用于灾难情况的搜索和救援机器人）。这些新机器可能是廉价，安全和可生物降解的替代品。