由多个骨肌肉组织的选择性收缩驱动的生物混合式延伸性驱动器
Kazuma Morita1, Yuya Morimoto1, Shoji Takeuchi1
1Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan.
Biofabrication
|June 29, 2023
概括
这项研究引入了一种新的生物混合动力执行器,使用骨肌肉组织排列在3D延伸度结构中. 这种设计可以为先进的生物混合机器人提供复杂的多DOF运动.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物工程是生物工程.
- 材料科学 材料科学 材料科学
背景情况:
- 生物混合机器人整合了生物和人工组件,以实现独特的功能.
- 现有的肌肉驱动机器人仅限于单个自由度或平面运动.
- 骨肌肉组织为机器人执行提供了灵活性和可控性.
研究的目的:
- 开发一个多度自由度 (DOF) 生物混合动力执行器.
- 为了克服以前的肌肉驱动机器人的运动限制.
- 在一个十分位结构中创建肌肉组织的3D配置.
主要方法:
- 使用培养的C2C12骨肌肉组织和基于纤维素的水凝制造一个生物混合的延伸性驱动器.
- 用快速适合机制将肌肉组织排列成一个3D延伸度结构.
- 使用电场 (> 4 V mm-1) 诱导肌肉收缩和执行器运动.
主要成果:
- 生物混合式延伸性执行器演示了3D多DOF倾斜运动.
- 选择性肌肉收缩导致大约0.5毫米的方向移位.
- 驱动器表现出固有的延伸性特性,包括稳定性和对抗外部力的强度.
结论:
- 开发的生物混合式延伸稳定性执行器使复杂的多DOF运动成为可能.
- 这个平台推动了复杂的肌肉驱动生物混合机器人的开发.
- 这种3D时分密度配置克服了机器人运动中以前的局限性.
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