CPS: TTP Option: Medium: Synthetic, Distributed Sensing, Soft and Modular Tissue (sTISSUE)

CPS：TTP 选项：介质：合成、分布式传感、软组织和模块化组织 (sTISSUE)

• 批准号: 1739452
• 负责人: Mark Rentschler
• 金额: $ 125万
• 依托单位: University of Colorado at Boulder
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2017
• 资助国家: 美国
• 起止时间: 2017-10-01 至 2022-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1739452&HistoricalAwards=false
• 关键词: CPS; TTP; Option; Medium; Synthetic

The goal of this research is to gain a fundamental understanding of the integrated actuation, embedded sensing, reactive control, and distributed control needs of a cyber-physical, synthetic, distributed sensing, soft and modular tissue (sTISSUE). Realizing this cyber-physical, physiological testbed will enable surgically relevant tasks, procedures, and devices to be much more refined ahead of animal testing, which can be dramatically reduced with such high-fidelity simulators. Furthermore, such simulators could open an entirely new approach to medical resident training that could not only improve surgical performance skills, but also establish a new paradigm in patient-specific surgical practice before the actual procedure. The proposed strategy will also harness the excitement surrounding autonomous systems, robotic control, and embedded sensing, and leverage it with the investigators' infrastructure for education innovation and outreach to provide new, inspirational educational experiences for students.This research program will formulate the techniques required for a synthetic tissue to autonomously sense and react to external stimuli, thereby replicating smooth muscle's sense and actuation capability. In essence, an autonomous tissue will be created that simulates in vivo behavior, while maintaining scalability and modularity. The intellectual merit of this research lies in 1) addressing current shortcomings in embedded sensing and actuation that ensure modularity and distributed control, 2) modeling the dynamics of, and creating global and distributed control strategies that account for, the unconventional in vivo environment requirements, and 3) enabling a paradigm-altering platform that will allow technology developers to both quickly and reliably apply this sTISSUE to numerous applications. More broadly, this research will establish a crucial body of knowledge needed for the design of synthetic tissue materials that integrate sensing, actuation, computation, and control. While the proposed approach includes the goal to transition the fundamental research into a gastrointestinal simulator, numerous other applications in the field of medicine and co-robotics exist. Finally, the proposed research in modularity and scalability design can broadly impact a number of other areas that would benefit from the developed novel methodologies in integrated sensing, actuation, computation and control.

本研究的目标是对网络物理、合成、分布式传感、软组织和模块化组织（stisue）的集成驱动、嵌入式传感、反应控制和分布式控制需求有一个基本的了解。实现这种网络物理、生理试验台将使外科相关的任务、程序和设备在动物试验之前更加完善，而这种高保真模拟器可以大大减少这些任务、程序和设备。此外，这种模拟器可以为住院医师培训开辟一种全新的途径，不仅可以提高手术表现技能，而且还可以在实际手术之前为特定患者的手术实践建立新的范例。拟议的战略还将利用围绕自主系统、机器人控制和嵌入式传感的兴奋，并将其与研究人员的教育创新和推广基础设施相结合，为学生提供新的、鼓舞人心的教育体验。该研究项目将制定合成组织自主感知外部刺激并做出反应所需的技术，从而复制平滑肌的感知和驱动能力。从本质上讲，将创建一个自主组织，模拟在体内的行为，同时保持可扩展性和模块化。本研究的智力价值在于：1)解决当前嵌入式传感和驱动方面的缺陷，确保模块化和分布式控制；2)建模动态，并创建全局和分布式控制策略，以解释非常规的体内环境要求；3)启用一个范式改变平台，使技术开发人员能够快速可靠地将该组织应用于众多应用。更广泛地说，这项研究将为设计集成传感、驱动、计算和控制的合成组织材料建立一个至关重要的知识体系。虽然提出的方法包括将基础研究转变为胃肠模拟器的目标，但在医学和协同机器人领域存在许多其他应用。最后，提出的模块化和可扩展性设计研究可以广泛影响许多其他领域，这些领域将受益于集成传感、驱动、计算和控制方面的新方法。

项目成果

An analytical model for the design of Peano-HASEL actuators with drastically improved performance

• DOI: 10.1016/j.eml.2019.100449
• 发表时间: 2019-05-01
• 期刊: EXTREME MECHANICS LETTERS
• 影响因子: 4.7
• 作者: Kellaris, Nicholas;Venkata, Vidyacharan Gopaluni;Keplinger, Christoph
• 通讯作者: Keplinger, Christoph

Embedded Magnetic Sensing for Feedback Control of Soft HASEL Actuators

• DOI: 10.1109/tro.2022.3200164
• 发表时间: 2023-02
• 期刊: IEEE Transactions on Robotics
• 影响因子: 7.8
• 作者: V. Sundaram;K. Ly;B. K. Johnson;M. Naris;Maxwell P. Anderson;J. Humbert;N. Correll;M. Rentschler-M.-Re

System Identification and Closed-Loop Control of a Hydraulically Amplified Self-Healing Electrostatic (HASEL) Actuator

• DOI: 10.1109/iros.2018.8593797
• 发表时间: 2018-10
• 期刊: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• 作者: C. Schunk;L. Pearson;E. Acome;T. G. Morrissey;N. Correll;C. Keplinger;M. Rentschler;J. Humbert

Identification and Control of a Nonlinear Soft Actuator and Sensor System

• DOI: 10.1109/lra.2020.2982056
• 发表时间: 2020-07-01
• 期刊: IEEE ROBOTICS AND AUTOMATION LETTERS
• 影响因子: 5.2
• 作者: Johnson, Brian K.;Sundaram, Vani;Rentschler, Mark E.
• 通讯作者: Rentschler, Mark E.

Miniaturized Circuitry for Capacitive Self-Sensing and Closed-Loop Control of Soft Electrostatic Transducers

• DOI: 10.1089/soro.2020.0048
• 发表时间: 2020-10-01
• 期刊: SOFT ROBOTICS
• 影响因子: 7.9
• 作者: Ly, Khoi;Kellaris, Nicholas;Correll, Nikolaus
• 通讯作者: Correll, Nikolaus