三层生物仿真肌肉的同时感知和激活能力,用于软机器人
Francisco García-Córdova1, Antonio Guerrero-González2, Joaquín Zueco1
1Department of Thermal and Fluid Engineering, Polytechnic University of Cartagena, Campus Muralla del Mar, 30203 Cartagena, Spain.
Sensors (Basel, Switzerland)
|November 25, 2023
概括
这项研究使用导电聚合物开发了一种新的仿生肌肉,能够同时运动和感知电流,温度和度. 这一进步对于未来的软机器人和生物医学应用至关重要.
科学领域:
- 材料科学 材料科学 材料科学
- 机器人技术 机器人技术 机器人技术
- 生物医学工程 生物医学工程
背景情况:
- 自然肌肉表现出复杂的执行和感知能力.
- 开发具有类似多功能性的人工肌肉是软机器人的关键挑战.
- 导电聚合物为生物模拟执行器提供了有前途的性能.
研究的目的:
- 为了制造和描述一个三层生物模拟肌肉,同时感知和执行.
- 通过神经生物学启发的神经网络来研究肌肉的控制.
- 探索肌肉感应电流,温度和电解质度的潜力.
主要方法:
- 制造一个三层聚烯 (PPy) - 多二二硫酸盐 (DBS) 肌肉.
- 通过皮质神经网络进行控制,模拟激动和对抗信号.
- 操作角度 (±20°,±30°,±40°) 的表征和肌肉潜力的监测.
- 分析肌肉对不同电流,温度和电解质度的潜在反应.
主要成果:
- 仿生肌肉表现出基于肌肉潜力的线性电流传感.
- 温度变化显示出与肌肉潜力的线性依赖,使温度感应成为可能.
- 电解质度的变化导致了指数潜在变化,允许度传感.
- 研究了电流密度对角速度和电荷密度的影响.
结论:
- 以聚合物为基础的导体肌肉成功地复制了自然肌肉的特性,提供了同时的运动控制和多传感能力.
- 集成的神经控制系统模仿生物运动调节.
- 这种多功能肌肉执行器是软机器人,假肢和生物医学设备的重大进步.
相关概念视频
01:33Somatosensation
The somatosensory system relays sensory information from the skin, mucous membranes, limbs, and joints. Somatosensation is more familiarly known as the sense of touch. A typical somatosensory pathway includes three types of long neurons: primary, secondary, and tertiary. Primary neurons have cell bodies located near the spinal cord in groups of neurons called dorsal root ganglia. The sensory neurons of ganglia innervate designated areas of skin called dermatomes.
01:16Sensory Functions of the Skin
The skin is the largest organ of the human body and plays a crucial role in our sensory perception. It contains a vast network of sensory receptors that contribute to the skin's protective function by perceiving physical, biological, and environmental cues and generating relevant responses.
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