Biohybrid Robots with Embedded Conductive Fibers for Actuation, Sensing, and Closed-loop Control

Area of Science:

• Biohybrid Robotics
• Materials Science
• Biomedical Engineering

Background:

• Living organisms use neural control and proprioception for adaptive movement.
• Current biohybrid robots struggle with efficient, regulated interfaces.
• Existing systems lack the sophistication of natural neuromuscular systems.

Purpose of the Study:

• To introduce a novel bioelectronic interface for biohybrid muscle actuators.
• To enable efficient, low-power stimulation and sensitive feedback sensing.
• To demonstrate closed-loop control for adaptive locomotion in biohybrid robots.

Main Methods:

• Developed soft poly(3,4-ethylenedioxythiophene) (PEDOT) fibers for stimulation and sensing.
• Integrated PEDOT fibers with muscle tissues for conformal coupling.
• Implemented selective fiber actuation for spatiotemporal control.
• Utilized fibers as strain sensors for closed-loop feedback.

Main Results:

• Achieved robust muscle contractions at low voltages (1 V) with ultra-low power consumption (0.376 mW).
• Demonstrated precise control of a two-muscle biohybrid robot, reaching 5.43 mm/min locomotion speed.
• Fibers functioned as high-gauge factor (155.45) strain sensors, resolving micrometer displacements.
• Integrated closed-loop control significantly mitigated muscle fatigue during operation.

Conclusions:

• Established a versatile platform for efficient actuation and intrinsic feedback sensing in biohybrid systems.
• The developed bioelectronic interface offers a blueprint for adaptive, autonomous biohybrid machines.
• This technology advances the development of sophisticated biohybrid robots with naturalistic control.