Intelligent Soft Quasi-Organism Equipped with Sensor-Driven Integrated Tentacles

作     者：Liu, Chang Luo, Jinan Liu, Haidong Fu, Junxin Liu, Houfang Tang, Hao Deng, Zhikang Wu, Jingzhi Li, Yuanfang Liu, Chuting Peng, Shiqi Hu, Juxin Ren, Tian-Ling Zhou, Jianhua Qiao, Yancong 

作者机构：Sun Yat Sen Univ Sch Biomed Engn Shenzhen Campus Shenzhen 518107 Peoples R China Sun Yat sen Univ Sch Biomed Engn Key Lab Sensing Technol & Biomed Instruments Guang Guangzhou 510275 Peoples R China Tsinghua Univ Sch Integrated Circuits Beijing 100084 Peoples R China Tsinghua Univ Beijing Natl Res Ctr Informat Sci & Technol BNRist Beijing 100084 Peoples R China 

出 版 物：《ADVANCED FUNCTIONAL MATERIALS》 (Adv. Funct. Mater.)

年 卷 期：2024年第34卷第44期

核心收录：

学科分类：0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 0805[工学-材料科学与工程（可授工学、理学学位）] 0703[理学-化学] 0702[理学-物理学] 

基　　金：National Natural Science Foundation of China [62201624, 32000939, 21775168, 22174167, 51861145202, U20A20168] Guangdong Basic and Applied Basic Research Foundation [2019A1515111183, 2024A1515012056] Shenzhen Science and Technology Program [RCBS20221008093310024] Shenzhen Research Funding Program [JCYJ20190807160401657, JCYJ201908073000608, JCYJ20150831192224146] Open Research Fund Program of Beijing National Research Center for Information Science and Technology [BR2023KF02010] Key Laboratory of Sensing Technology and Biomedical Instruments of Guangdong Province [2020B1212060077] 

主　　题：active perception autonomous decision-making system intelligent soft robots sensor-actuator integration 

摘      要：Integration of soft electronic system components is critical to create a closed-loop system that seamlessly integrates sensing, driving, processing, and autonomous control capabilities. However, the existence of these components, particularly sensors and actuators, in isolated or discrete forms complicates the endeavor to achieve seamless interface matching and in situ integration, no more than the autonomic system. Here, an intelligent soft quasi-organism (SQO) equipped with sensor-driven integrated tentacles is demonstrated, featuring real-time state recognition and autonomous object recognition inspired by the sea anemones. By employing a heterogeneous mechanisms homotopic integration (HMHI) strategy, the tentacles of the SQO possess the unique ability to simultaneously perceive state changes and flexibly drive motions, utilizing the same material and structure. The sea anemone-shaped SQO exhibits real-time autonomous state identification capabilities through the integration of machine learning and customized circuits, attaining 100% recognition accuracy across sixteen states. With a neuromuscular system that facilitates active autonomous perception, the anemone-shaped SQO can recognize and intelligently grasp static objects with an accuracy of 80.7%, surpassing that of a human hand (74.7%). The SQO provides a promising approach for realizing artificial neuromuscular systems, with great potential for applications in crucial areas such as intelligent soft robotics and in vivo therapy. A fully closed-loop neuromuscular system is essential for soft robots to mimic diverse biological functions. An intelligent Soft Quasi-Organism equipped with sensor-driven integrated tentacles robot is presented that employs a Heterogeneous Mechanisms Homotopic Integration strategy with real-time state recognition and autonomous object recognition inspired by the neuromuscular system of sea anemones. image