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Hydrogel bioadhesives harnessing nanoscale phase separation for Achilles tendon repairing

Nano Research 2024年第2期17卷 778-787页

作者： Jun Zhang Xingmei Chen Jingseng Lin Pei Zhang Iek Man Lei Yue Tao Jiajun Zhang Tian Luo Ji Liu Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhen 518055China Research and Innovation Center SKG Health TechnologyShenzhen 518000China SAFE(Shenzhen)Medical Technology Company Limited Shenzhen 518000China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhen 518055China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhen 518055China

Repairing Achilles tendon has emerged as a long-standing challenge in the orthopaedic *** suture is the gold standard for re-attaching and repairing the fractured Achilles tendons in clinical surgeries,it is still subjected to numerous adverse side-effects,including chronic inflammatory,tendon tissue re-rupture,scar formation,and post-surgical peritendinous *** this work,we develop a class of hydrogel bioadhesives with tailored nanoscale phase separation for Achilles tendon *** address the existing limitations of sutures,our hydrogel bioadhesives encompass three core functionalities:(i)instant and tough adhesion to Achilles tendon tissues,(ii)extraordinary long-term adhesion robustness under wet and dynamic in vivo conditions,and(iii)anti-postsurgical peritendinous *** our hydrogel bioadhesives with sutures,such kind of integrated approach enables a conformable yet robust biointerface with the tendon tissues,and prevents the fibroblast migration and formation of connective tissues,thus facilitating the tendon *** hydrogel bioadhesives reported here open up new opportunities for the repairing of fractured Achilles tendons in diverse and complicated clinical scenarios.

关键词： hydrogels phase separation bioadhesion robustness tendon repairing

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Hierarchical Sponge-Hydrogel Hybrid Structures with Robust Interfaces

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Chinese Journal of Chemistry 2023年第20期41卷 2635-2640页

作者： Pei Zhang Guangda Chen Xingmei Chen Junfei Xing Yue Tao Ji Liu Department of Mechanical and Energy Engineering Southern University of Science and TechnologyShenzhenGuangdong518055 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy EngineeringSouthern University of Science and TechnologyShenzhenGuangdong518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and TechnologyShenzhenGuangdong518055 China

Soft materials including elastomers and hydrogels are playing critical roles in a variety of fields,including bioelectrodes,batteries,supercapacitors,biomedical scaffolds,and solar vapor *** hydrophobic sponges(i.e.,mechanical robustness,elasticity and macroscopic porous structure)and hydrophilic hydrogels(i.e.,autonomous water absorption and transportation,biocompatibility)within one unit could readily combine the complementary characters from each component,making a number of future research directions and applications *** propose a simple yet effective strategy to construct sponge-hydrogel hybrid structures with robust hydrophobic-hydrophilic *** sponge scaffold imparts the sponges-hydrogel hybrids with desirable mechanical robustness,elasticity and macroscopic *** the other hand,the incorporated hydrogel component endows the hybrids with high water content(98 wt%hydrogel and 2 wt%sponge),superior compatibility,and nanoscale pores allowing for storage and transportation of various chemical and biological *** further demonstrate that the introduction of hydrophilic hydrogel components could effectively improve the liquid absorption capability,blood coagulation rate,hemostatic capacity and hemocompatibility,thus promising as hemostatic agents.

关键词： Sponge-hydrogel hybrid Interface Hierarchical Robustness Liquid absorption Gels Polymer Composites Materials Science

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Multiple Jumping and Perching of a Miniature Mobile Robot

Multiple Jumping and Perching of a Miniature Mobile Robot

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2024 IEEE International Conference on robotics and Biomimetics, ROBIO 2024

作者： Hu, Longlong Tang, Lingqi Chen, Hao Li, Yao Li, Bing Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Shenzhen518055 China Machine Theory and Intelligent Unmanned Systems of Guangdong Key University Laboratory of Mechanism Shenzhen518055 China School of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518055 China

ISBN: (纸本)9781665481090

Many insects and miniature robots can traverse through narrow spaces via jumping motion;however, successful jumping and landing remains challenging in small-scale. No jumping robot within 90 g have yet demonstrated multiple jumping and perching successfully. Here, we demonstrate continuous jumping and perching of a miniature robot. The origami-inspired structure was manufactured by smart composite microstructure technology. A novel jumping mechanism was designed to load adjustable jump energy actuated by only one motor. A perching mechanism with two adhesive pads was designed to passively couple with the jumping mechanism, achieving perching on the ground and automatically detaching before the next jump. The jumping mechanism achieved adjustable jumping energy, corresponding to jumping height from 0.7 cm to 36.4 cm. The perching mechanism provided successful landing within a wide range (when velocity angle according to vertical direction =18, the velocity magnitude 3.4m/s, the body angle 30). Unlike typical jumping robots performing uncontrollable landing and free-rolling, our robot kept its body up-righted during the whole movement and avoided free-rolling after landing. The self-contained prototype had 18 g of mass, 6.5 cm of body height, and 36.4 cm of maximum jumping height. Finally, an eccentric motor was integrated to perform multiple omnidirectional jumping and perching movements;this represents significant improvement of motion ability for small-scale mobile robots. © 2024 IEEE.

关键词： Landing

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Design and Analysis of a Compact and Foldable Master Device Based on Binocular Near-Infrared Optical Navigation Technology for Minimally Invasive Surgery Robots

IEEE Transactions on Medical Robotics and Bionics

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IEEE Transactions on Medical robotics and Bionics 2025年第2期7卷 514-527页

作者： Pan, Lizhi Jiang, Xu Ma, Zhikang Guan, Bo Yi, Bo Zhao, Jianchang Tianjin University Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education School of Mechanical Engineering Institute of Medical Robotics and Intelligent Systems Tianjin300350 China The Third Xiangya Hospital of Central South University Disease Professional Committee of Chinese Medical Doctor Association Surgeon Branch of Hunan Medical Doctor Association Hunan Provincial Key Laboratory of Surgical Robotics Hunan Changsha410013 China Tsinghua University School of Aeronautics and Astronautics Beijing100084 China

The traditional minimally invasive surgical (MIS) robots generally have bulk leader manipulators with relatively fixed working positions, which limits their further utilization in special scenarios, such as remote surgeries. This study proposes a compact and foldable leader device based on passive binocular near-infrared (NIR) optical navigation technology for MIS robots, which does not need mechanical arm linkage constraints and provides a larger range of position and orientation tracking, enabling the surgeons to perform continuous leader-follower manipulations more steadily. Moreover, the polyhedral and foldable structure of the optical leader device further reduces the spatial footprint of the MIS robot. A prototype of the optical leader devices was constructed with a weight of 186 g. Its performance was then evaluated through testing, and the maximum average absolute error in position and orientation tracking was 0.90 mm and 0.45°, respectively. Additionally, the prototype exhibits acceptable stability and a wide range of position and orientation tracking. The leader device features a compact, foldable structure with enhanced portability and excellent position and orientation tracking capabilities, facilitating precise surgical maneuvers of surgeons in scenarios of remote surgeries. © 2018 IEEE.

关键词： Knee prostheses

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Thermal and Magnetic Dual-Responsive Catheter-Assisted Shape Memory Microrobots for Multistage Vascular Embolization

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Research 2024年第3期2024卷 529-543页

作者： Qianbi Peng Shu Wang Jianguo Han Chenyang Huang Hengyuan Yu Dong Li Ming Qiu Si Cheng Chong Wu Mingxue Cai Shixiong Fu Binghan Chen Xinyu Wu Shiwei Du Tiantian Xu Guangdong Provincial Key Lab of Robotics and Intelligent Systems Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina University of Chinese Academy of Sciences BeijingChina Department of Neurosurgery South China HospitalMedical SchoolShenzhen University.ShenzhenChina The Key Laboratory of Biomedical Imaging Science and System Shenzhen Institute of Advanced TechnologyChinese Academy of SciencesShenzhenChina.

Catheters navigating through complex vessels,such as sharp turns or multiple U-turns,remain challenging for vascular ***,we propose a novel multistage vascular embolization strategy for hard-to-reach vessels that releases untethered swimming shape-memory magnetic microrobots(SMMs)from the prior catheter to the vessel ***,made of organo-gel with magnetic particles,ensure biocompatibility,radiopacity,thrombosis,and fast thermal and magnetic *** SMM is initially a linear shape with a 0.5-mm diameter at 20°C inserted in a *** transforms into a predetermined helix within 2 s at 38°C blood temperature after being pushed out of the catheter into the *** enable agile swimming in confined and tortuous vessels and can swim upstream using helical propulsion with rotating magnetic ***,we validated this multistage vascular embolization in living rabbits,completing 100-cm travel and renal artery embolization in 2 *** 4 weeks,the SMMs maintained the embolic position,and the kidney volume decreased by 36%.

关键词： turns maintained travel

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Pressure Pain Recognition for Lower Limb Exoskeleton Robot with Physiological Signals 1

引用

2nd International Conference on Cognitive Computation and systems, ICCCS 2023

作者： Ma, Yue Wu, Xinyu Wang, Xiangyang Li, Jinke Qin, Pengjie Yin, Meng Cao, Wujing Yi, Zhengkun Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen China SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems Guangdong Shenzhen China Shandong Institute of Advanced Technology Chinese Academy of Sciences Shandong Jining China

ISBN: (数字)9789819708857

ISBN: (纸本)9789819708840

Pain is a feedback mechanism the body uses to protect itself. The perception of human pain is still missing in lower limb exoskeleton robots, such as the pain caused by the pressure between the knee joint and the baffle when the lower limb exoskeleton stands up, or the pain caused by the mismatch between the gait and the body function of the wearer when walking. Aiming at the pain perception problem of the exoskeleton robot, this study designed a pressure pain data acquisition paradigm combined first considering the movement mode of the exoskeleton robot, and collected facial electromyography and electrocardiography signals, as well as five levels of pain. Then a deep learning neural Network based on Temporal Convolutional Network and Long Short-Term Memory is designed. The composite Loss of Center Loss, InfoNEC Loss and Softmax Loss is designed. The designed deep neural network model was evaluated using the thermal pain dataset BioVid, and the average recognition rate using only electrocardiography signals reached 86.44%. By Using the fusion signals of electrocardiography, electrocardiogram and electromyogram signals, the average recognition accuracy can reach 87.16%, which is superior to other similar methods, and verifies the effectiveness of the proposed method. The proposed network is also used to verify the collected pressure pain dataset, and the recognition accuracy can reach 87.5%, which proves the validity of the collected data set. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Electrocardiography

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Accelerated Informed RRT*: Fast and Asymptotically Path Planning Method Combined with RRT*-Connect and APF 16th

Accelerated Informed RRT*: Fast and Asymptotically Path Pla...

引用

16th International Conference on intelligent robotics and Applications, ICIRA 2023

作者： Tu, Zhixin Zhuang, Wenbing Leng, Yuquan Fu, Chenglong Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems and Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China

ISBN: (纸本)9789819965007

In recent years, path planning algorithms have played a crucial role in addressing complex navigation problems in various domains, including robotics, autonomous vehicles, and virtual simulations. This abstract introduces a improved path planning algorithm called Informed RRT*-connect based on APF, which combines the strengths of the fast bidirectional rapidly-exploring random tree (RRT-connect) algorithm and the informed RRT* algorithm. The proposed algorithm aims to efficiently find collision-free paths with less iterations and time while minimizing the path length. Unlike traditional RRT-based algorithms, Informed RRT*-connect based on Artificial Potential Fields (APF) incorporates a bidirectional connection and rewiring of a new sampling point to explore the search space. This enables the algorithm to connect both the start and goal nodes more effectively and quickly to find a initial solution, reducing the search time and provide a better initial heuristics sapling for the next optimal steps. Furthermore, Informed RRT*-connect introduces an informed sampling strategy that biases the sampling towards areas of the configuration space likely to yield better paths. This approach significantly reduces the exploration time to find a path and enhances the ability to discover optimal paths efficiently. To evaluate the effectiveness of the Informed RRT*-connect algorithm, we conducted the simulation experiments on two different experiment protocol. The results demonstrate that our approach outperforms existing state-of-the-art algorithms in terms of both planning efficiency and solution optimality. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

关键词： Motion planning

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EMG Based Rehabilitation Gesture Recognition Using DAE-CNN-LSTM Hybrid Model

EMG Based Rehabilitation Gesture Recognition Using DAE-CNN-L...

引用

2024 International Convention on Rehabilitation Engineering and Assistive Technology and World Rehabilitation Robot Convention, i-CREATE and WRRC 2024

作者： Cao, Wujing Guo, Xinqiang Zou, Yupeng Zhang, Shuo Luo, Mingxiang Kobsiriphat, Worawarit Wu, Xinyu Yin, Meng Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen518005 China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems China School of Mechanical Engineering China University of Petroleum China National Metal and Materials Technology Center Thailand

ISBN: (纸本)9798350355123

Stroke, as one of the leading causes of long-term disability globally, often results in motor impairments, particularly in the hands, significantly affecting patients' daily activities and causing profound psychological trauma. Rehabilitation gesture recognition, as one of the key means of active rehabilitation medicine, holds significant potential in stroke rehabilitation, providing real-time feedback on patient progress and enabling personalized interventions to meet individual needs. Traditional gesture recognition methods face numerous challenges when dealing with stroke patient data, such as noise, motion blur, and individual differences. To address these challenges, this paper proposes a novel approach for stroke patient gesture recognition using deep learning models. We adopt a strategy combining denoising autoencoder (DAE), convolutional neural network (CNN), and long short-term memory (LSTM) to enhance the accurate recognition of hand movements in stroke patients. Specifically, DAE is utilized for denoising EMG signals, extracting features, and reducing noise to improve the signal's noise resistance. CNN is employed for spatial feature extraction, while LSTM captures temporal dependencies in gesture sequences. By integrating these three deep learning models, our aim is to enhance the accuracy and robustness of rehabilitation gesture recognition. We validate the proposed method's effectiveness on an EMG dataset from seven subjects through experiments and compare it with traditional machine learning and individual CNN and LSTM algorithms. Experimental results demonstrate significant performance improvements of our hybrid model in rehabilitation gesture recognition tasks, indicating promising application prospects and practical significance. © 2024 IEEE.

关键词： Convolutional neural networks

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Evolution Design Methodology of the Metamorphic Mechanisms Inspired by Gene Deduction

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Journal of Mechanical Design 2025年第8期147卷 083302页

作者： Zhang, Yang Xu, Peng Li, Bing Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robots Key University Laboratory of Mechanism & Machine Theory and Intelligent Unmanned Systems of Guangdong School of Robotics and Advanced Manufacture Harbin Institute of Technology Shenzhen 518052 China

This article proposes an evolutionary design method for metamorphic mechanisms inspired by gene deduction. First, the correlations between biological evolution and mechanical evolution, biological systems and mechanical systems, and genes and mechanisms are revealed. There are many similarities between biology and mechanism. Biological principles can be applied to the study and design of the mechanisms to adapt well to tasks and environments. The correlation between genetic operation and mechanical design is developed. The selection operator, recombination operator, and mutation operator of the mechanisms are deduced by inspiring genes. To verify the rationality of these operators, they are used to construct 5R (revolute joints) overconstrained closed-loop linkage, 6R metamorphic closed-loop linkage, 7R deployable closed-loop linkage, and 2RP (prismatic joint) RR metamorphic parallel mechanism (MPM). The mobilities of these mechanisms are analyzed via the atlas method. Finally, the evolutionary design method of MPMs is introduced and used to design the mechanisms with 2R1T (two rotation one translation) and 1R2T modes, which verify the effectiveness of the method. The proposed evolutionary design method provides a new theoretical tool for the design of metamorphic single-loop and parallel mechanisms.

关键词： bio-inspired design Chain Design methodology evolution design Design Parallel mechanisms Kinematics metamorphic mechanisms single-loop/parallel mechanisms Kinematic chains gene deduction atlas method Biology Bifurcation

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Walking Control for a Self-Balancing Exoskeleton on Flat Ground

Walking Control for a Self-Balancing Exoskeleton on Flat Gro...

引用

2023 IEEE International Conference on Real-Time Computing and robotics, RCAR 2023

作者： Li, Jinke Tian, Dingkui Li, Feng Sun, Jianquan Yin, Meng Wu, Xinyu University of Chinese Academy of Sciences Shenzhen College of Advanced Technology Shenzhen518055 China Siat Cuhk Joint Laboratory of Robotics and Intelligent Systems China Chinese Academy of Sciences Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Shenzhen518055 China

ISBN: (纸本)9798350327182

Designed to provide rehabilitation or the assistance of walking for individuals who are with lower limb muscle injuries or spinal during their activities, self-balancing lower limb exoskeletons have been developed. This paper introduces an innovative controller for a fully actuated exoskeleton that ensures stable walking for wearers without the need for external devices. The exoskeleton robot is represented as a center of mass model, and based on this representation, the trajectory generation and controller are discussed, aiming to improve locomotion stability. To assess the stability and dynamic performance, a stable walking experiment with the exoskeleton was conducted, involving a male subject. © 2023 IEEE.

关键词： Exoskeleton (robotics)

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