EFRI C3 SoRo: An integrated approach towards computational design, fabrication and understanding of bio-hybrid soft architectures capable of adaptive behavior

EFRI C3 SoRo：一种用于计算设计、制造和理解具有自适应行为的生物混合软架构的集成方法

• 批准号: 1830881
• 负责人: Mattia Gazzola
• 金额: $ 200万
• 依托单位: University of Illinois at Urbana-Champaign
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2018
• 资助国家: 美国
• 起止时间: 2018-10-01 至 2024-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1830881&HistoricalAwards=false
• 关键词: EFRI; C3; SoRo; integrated; approach

The goal of this project is to model, design, fabricate and study micrometer to centimeter size soft bio-hybrid robots that bring together artificial elements and living biological cells. Living components promise to provide these robots with a natural organism's abilities to self-assemble, heal, grow, and to adapt to varying environments. This project is made possible by recent advances in fabrication techniques that allow artificial elements to be combined with an array of living cell types such as muscles and neurons. The proposed mini bio-hybrid robots are thus compliant, configurable, biocompatible, and can generate power from local nutrients. Bio-hybrid robots can also exhibit adaptive behaviors in response to uncertain environments, and thus offer the promise of a host of high impact applications including localized drug delivery, environmental exploration and chemical sensing, evaluation of potential surgical sites within the body, and precision manipulation and fabrication. This is in line with the national need to reduce healthcare costs by enhancing medical effectiveness as well as stimulating the development of advanced manufacturing techniques to increase competitiveness. This effort speaks to a broad audience: what can spark the imagination of potential young scientists better than bringing tiny robots to life. Excitement in this area will be leveraged via activities ranging from museum exhibitions to the deployment of high school and K-12 intuitive learning modules, in order to foster interest in advanced computing, mechanics, math, manufacturing, and biology.Soft robotics is currently constrained by a lack of rigorous engineering methods. Intuition-driven approaches are further strained in the case of bio-hybrid systems due to the inclusion of the living component, which is even less well understood. This project seeks to create a systematic approach based on modeling, simulation, and fabrication to overcome these limitations and enable deployment and scalability. Central to this project is the concept of functional units, hierarchical bio-hybrid assemblies that can be combined into integrated robotic systems capable of higher level functions, much like the organization of living organisms and object-oriented software. By embracing this analogy, five fundamental building blocks (muscle and neuron cells, elastomers, multi-stable buckling structures, wireless conformable electronics) are considered, so as to: (1) introduce a novel mathematical formalism based on Cosserat rod assemblies to model their mechanical response, actuation and interaction with the environment; (2) develop software to simulate the dynamics of composite functional units and to optimize them according to a desired target behavior; (3) fabricate and test obtained solutions, and update models based on experiments; (4) showcase new understanding by engineering integrated bots able to perform complex tasks. Thus, this effort overall deals with enabling the vision of autonomous, adaptive mini-bots and laying the analytical, computational and experimental foundations of a bio-hybrid soft engineering science.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该项目的目标是建模，设计，制造和研究微米到厘米大小的软生物混合机器人，将人工元件和活生物细胞结合在一起。活的组件有望为这些机器人提供自然有机体的自我组装、愈合、生长和适应不同环境的能力。这个项目是可能的，最近的进步，使制造技术，使人工元件与一系列活细胞类型，如肌肉和神经元相结合。因此，所提出的微型生物混合机器人是顺应性的、可配置的、生物相容的，并且可以从本地营养物产生电力。生物混合机器人还可以表现出适应性行为，以应对不确定的环境，从而提供了一系列高影响力的应用，包括局部药物输送，环境探索和化学传感，体内潜在手术部位的评估，以及精确的操作和制造。这符合国家通过提高医疗效率降低医疗成本的需求，并刺激先进制造技术的发展以提高竞争力。这一努力面向的是广泛的受众：还有什么能比让微型机器人成为现实更能激发潜在年轻科学家的想象力呢？通过博物馆展览、高中和K-12直观学习模块的部署等活动，将利用这一领域的兴奋，以培养对高级计算、力学、数学、制造和生物学的兴趣。软机器人目前受到缺乏严格工程方法的限制。在生物混合系统的情况下，由于包含生物成分，直觉驱动的方法进一步受到限制，而生物成分的理解更少。该项目旨在创建一个基于建模，仿真和制造的系统方法，以克服这些限制并实现部署和可扩展性。该项目的核心是功能单元的概念，分层生物混合组件，可以组合成具有更高级别功能的集成机器人系统，就像生物体和面向对象软件的组织一样。通过这个类比，（肌肉和神经元细胞、弹性体、多稳态屈曲结构、无线适形电子器件），以便：（1）引入一种基于Cosserat杆组件的新型数学形式来建模其机械响应、驱动和与环境的相互作用;（2）开发软件以模拟复合功能单元的动力学，并根据期望的目标行为对其进行优化;（3）制造和测试所获得的解决方案，并基于实验更新模型;（4）通过设计能够执行复杂任务的集成机器人来展示新的理解。因此，这一努力总体上涉及实现自主、自适应微型机器人的愿景，并为生物混合软工程科学奠定分析、计算和实验基础。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。

项目成果

How zebrafish turn: analysis of pressure force dynamics and mechanical work

• DOI: 10.1242/jeb.223230
• 发表时间: 2020-08-01
• 期刊: JOURNAL OF EXPERIMENTAL BIOLOGY
• 影响因子: 2.8
• 作者: Thandiackal, Robin;Lauder, George, V
• 通讯作者: Lauder, George, V

Remote control of muscle-driven miniature robots with battery-free wireless optoelectronics

• DOI: 10.1126/scirobotics.add1053
• 发表时间: 2023-01-25
• 期刊: SCIENCE ROBOTICS
• 影响因子: 25
• 作者: Kim, Yongdeok;Yang, Yiyuan;Bashir, Rashid
• 通讯作者: Bashir, Rashid

Control-oriented Modeling of Bend Propagation in an Octopus Arm

章鱼臂弯曲传播的面向控制建模

• DOI: 10.23919/acc53348.2022.9867689
• 发表时间: 2022
• 期刊: 2022 American Control Conference (ACC
• 作者: Wang, Tixian;Halder, Udit;Gribkova, Ekaterina;Gazzola, Mattia;Mehta, Prashant G.
• 通讯作者: Mehta, Prashant G.

Neuromuscular actuation of biohybrid motile bots

• DOI: 10.1073/pnas.1907051116
• 发表时间: 2019-10-01
• 期刊: PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA
• 影响因子: 11.1
• 作者: Aydin, Onur;Zhang, Xiaotian;Saif, M. Taher A.
• 通讯作者: Saif, M. Taher A.

Computationally Assisted Design and Selection of Maneuverable Biological Walking Machines

• DOI: 10.1002/aisy.202000237
• 发表时间: 2021-05-01
• 期刊: ADVANCED INTELLIGENT SYSTEMS
• 影响因子: 7.4
• 作者: Wang, Jiaojiao;Zhang, Xiaotian;Gazzola, Mattia
• 通讯作者: Gazzola, Mattia