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中枢神経系を模したダブルニューラルネットワークによる培養筋駆動遊泳ロボットの制御

使用模拟中枢神经系统的双神经网络控制培养肌肉驱动的游泳机器人

基本信息

批准号：
22K18780
负责人：
秋山佳丈
金额：
$ 4.16万
依托单位：
Shinshu University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Challenging Research (Exploratory)
财政年份：
2022
资助国家：
日本
起止时间：
2022-06-30 至 2024-03-31
项目状态：
已结题

项目摘要

従来の培養筋アクチュエータに関する研究は，実証指向型で試行錯誤的に進められてきた．本研究では，生体筋に幅広く用いられるHillモデルに基づく古典的制御に加え，中枢神経系(脳と脊髄)を模したニューラルネットワークによる制御系を構築し，最終的に「遊泳型バイオハイブリッドロボット」への実装を目指す．本年度は以下の項目に取り組んだ．1．培養筋のモデル化：培養筋は，マウスの筋細胞株C2C12をコラーゲン等細胞外基質中に懸濁し，10日程度培養することで得た．また，高酸素下で培養することで，収縮力が向上することも確認できた．この培養筋に対して，等尺性引張試験や伸展試験を行い，その張力データを取得した．このデータに対し，Hillの4要素パラメータによるモデル化を行った．モデルは，収縮力Fa，ダッシュポット要素C0，並列バネ要素k0, 直列バネ要素K1から成る4要素粘弾性モデルを用いた．現在，モデルの修正を含め回帰分析方法を検討中であるが，概ね良好な一致が見られている．2．バイオハイブリッドデバイス制御の実証：来年度以降の制御対象として，得られた培養筋を，ヒレ揺動機構および逆ピンセット構造に取り付けて，駆動可能なことを確認した．ヒレ揺動機構については，2本培養筋を拮抗配置し交互に電気刺激することで，ヒレが動くことを確認した．逆ピンセット構造についても，培養筋の静止張力がかかった状態で適切な開口部の開きが得られるものが設計可能なことを確認できた．

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