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Integrated Cross-Scale Manipulation and Modulable Encapsulation of Cell-Laden Hydrogel for Constructing Tissue-Mimicking Microstructures

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Research 2025年第1期2024卷 704-717页

作者： Yanfeng Zhao Xinyi Dong Yang Li Juan Cui Qing Shi Hen-Wei Huang Qiang Huang Huaping Wang Intelligent Robotics Institute School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Peking University First Hospital Xicheng DistrictBeijing 100034China Key Laboratory of Instrumentation Science and Dynamic Measurement Ministry of EducationNorth University of ChinaTaiyuan 030051China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of TechnologyBeijing 100081China Laboratory for Translational Engineering Harvard Medical SchoolCambridgeMA 02139USA Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of EducationBeijing 100081China

Engineered microstructures that mimic in vivo tissues have demonstrated great potential for applications in regenerative medicine,drug screening,and cell behavior ***,current methods for engineering microstructures that mimic the multi-extracellular matrix and multicellular features of natural tissues to realize tissue-mimicking microstructures in vitro remain ***,we propose a versatile method for constructing tissue-mimicking heterogeneous microstructures by orderly integration of macroscopic hydrogel exchange,microscopic cell manipulation,and encapsulation ***,various cell-laden hydrogel droplets are manipulated at the millimeter scale using electrowetting on dielectric to achieve efficient hydrogel ***,the cells are manipulated at the micrometer scale using dielectrophoresis to adjust their density and arrangement within the hydrogel ***,the photopolymerization of these hydrogel droplets is triggered in designated regions by dynamically modulating the shape and position of the excitation ultraviolet ***,heterogeneous microstructures with different extracellular matrix geometries and components were constructed,including specific cell densities and *** resulting heterogeneous microstructure supported long-term culture of hepatocytes and fibroblasts with high cell viability(over 90%).Moreover,the density and distribution of the 2 cell types had significant effects on the cell proliferation and urea *** propose that our method can lead to the construction of additional biomimetic heterogeneous microstructures with unprecedented potential for use in future tissue engineering applications.

关键词： cell behavior explorationhowevercurrent tissue mimicking microstructures cell laden hydrogel electrowetting dielectric regenerative medicinedrug screeningand heterogeneous microstructures engineered microstructures orderly integration

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A Three-Step Optimization Framework With Hybrid Models for a Humanoid Robot’s Jump Motion

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 14120-14132页

作者： Qi, Haoxiang Yu, Zhangguo Chen, Xuechao Li, Qingqing Liu, Yaliang Yi, Chuanku Dong, Chencheng Meng, Fei Huang, Qiang Beijing Institute of Technology Intelligent Robotics Institute School of Mechatronical Engineering Beijing100081 China International Joint Research Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing100081 China National Key Laboratory of Autonomous Intelligent Unmanned Systems Beijing100081 China Qiyuan Laboratory Beijing100029 China

High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper proposes a 3-step trajectory optimization framework for generating a jump motion for a humanoid robot. To improve iteration speed and achieve ideal performance, the framework comprises three sub-optimizations. The first optimization incorporates momentum, inertia, and center of pressure (CoP), treating the robot as a static reaction momentum pendulum (SRMP) model to generate corresponding trajectories. The second optimization maps these trajectories to joint space using effective Quadratic Programming (QP) solvers. Finally, the third optimization generates whole-body joint trajectories utilizing trajectories generated by previous parts. With the combined consideration of momentum and inertia, the robot achieves agile forward jump motions. A simulation and experiments of forward jump with a distance of 1.0 m and 0.5 m height are presented in this paper, validating the applicability of the proposed framework. © 2004-2012 IEEE.

关键词： Anthropomorphic robots

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Suppressing high voltage chemo-mechanical degradation in single crystal nickel-rich cathodes for high-performance all-solid-state lithium batteries

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Journal of Energy Chemistry 2025年第3期102卷 377-385页

作者： Yirong Xiao Le Yang Chaoyuan Zeng Ze Hua Shuangquan Qu Niaz Ahmad Ruiwen Shao Wen Yang Key Laboratory of Cluster Science of Ministry of Education Beijing Key Laboratory of Photoelectronic/Electrophotonic Conversion MaterialsSchool of Chemistry and Chemical EngineeringBeijing Institute of TechnologyBeijing 100081China Beijing Advanced Innovation Center for Intelligent Robots and Systems School of Medical TechnologyBeijing Institute of TechnologyBeijing 100081China School of Chemistry and Chemical Engineering Key Laboratory of Ministry of Education for Advanced Materials in Tropical Island ResourcesCollaborative Innovation Center of Ecological CivilizationHainan UniversityHaikou 570228HainanChina

Sulfide-based all-solid-state lithium batteries suffer from electrochemo-mechanical damage to Ni-rich oxide-based cathode active materials(CAMs),primarily caused by severe volume changes,results in significant stress and strain,causes micro-cracks and interfacial contact loss at potentials>4.3 V(***/Li^(+)).Quantifying micro-cracks and voids in CAMs can reveal the degradation mechanisms of Ni-rich oxidebased cathodes during electrochemical ***,the origin of electrochemical-mechanical damage remains ***,We have developed a multifunctional PEG-based soft buffer layer(SBL)on the surface of carbon black(CB).This layer functions as a percolation network in the single crystal LiNi_(0.83)Co_(0.07)Mn_(0.1)O_(2)and Li_(6)PS_(5)Cl composite cathode layer,ensuring superior ionic conductivity,reducing void formation and particle cracking,and promoting uniform utilization of the cathode active material in all-solid-state lithium batteries(ASSLBs).High-angle annular dark-field STEM combined with nanoscale X-ray holo-tomography and plasma-focused ion beam scanning electron microscopy confirmed that the PEG-based SBL mitigated strain induced by reaction heterogeneity in the *** strain produces lattice stretches,distortions,and curved transition metal oxide layers near the surface,contributing to structural degradation at elevated ***,ASSLBs with a LiNi_(0.83)Co_(0.07)Mn_(0.1)O_(2)cathode containing LCCB-10(CB/PEG mass ratio:100/10)demonstrate a high areal capacity(2.53 mAh g^(-1)/0.32 mA g^(-1))and remarkable rate capability(0.58 mAh g^(-1)at 1.4 mA g^(-1)),with88%capacity retention over 1000 cycles.

关键词： Single crystal nickel-rich oxide cathode Lattice stretches and distortions Reaction heterogeneity Percolation network All-solid-state lithium batteries

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Multi-model ensemble learning for battery state-of-health estimation:Recent advances and perspectives

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Journal of Energy Chemistry 2025年第1期100卷 739-759页

作者： Chuanping Lin Jun Xu Delong Jiang Jiayang Hou Ying Liang Zhongyue Zou Xuesong Mei State Key Laboratory for Manufacturing Systems Engineering Xi’an Jiaotong UniversityXi’an 710049ShaanxiChina Shaanxi Key Laboratory of Intelligent Robots School of Mechanical EngineeringXi’an Jiaotong UniversityXi’an 710049ShaanxiChina Department of Electrical Engineering and Automation Luoyang Institute of Science and TechnologyLuoyang 471023HenanChina School of Mechanical Engineering Hangzhou Dianzi UniversityHangzhou 310018ZhejiangChina

The burgeoning market for lithium-ion batteries has stimulated a growing need for more reliable battery performance monitoring. Accurate state-of-health(SOH) estimation is critical for ensuring battery operational performance. Despite numerous data-driven methods reported in existing research for battery SOH estimation, these methods often exhibit inconsistent performance across different application scenarios. To address this issue and overcome the performance limitations of individual data-driven models,integrating multiple models for SOH estimation has received considerable attention. Ensemble learning(EL) typically leverages the strengths of multiple base models to achieve more robust and accurate outputs. However, the lack of a clear review of current research hinders the further development of ensemble methods in SOH estimation. Therefore, this paper comprehensively reviews multi-model ensemble learning methods for battery SOH estimation. First, existing ensemble methods are systematically categorized into 6 classes based on their combination strategies. Different realizations and underlying connections are meticulously analyzed for each category of EL methods, highlighting distinctions, innovations, and typical applications. Subsequently, these ensemble methods are comprehensively compared in terms of base models, combination strategies, and publication trends. Evaluations across 6 dimensions underscore the outstanding performance of stacking-based ensemble methods. Following this, these ensemble methods are further inspected from the perspectives of weighted ensemble and diversity, aiming to inspire potential approaches for enhancing ensemble performance. Moreover, addressing challenges such as base model selection, measuring model robustness and uncertainty, and interpretability of ensemble models in practical applications is emphasized. Finally, future research prospects are outlined, specifically noting that deep learning ensemble is poised to advance ens

关键词： Lithium-ion battery State-of-health estimation Data-driven Machine learning Ensemble learning Ensemble diversity

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Development and Validation of a Robot-Assisted Retraction System for Orthopedic Surgery

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 492-501页

作者： Zhu, Xiaolong Jiang, Yuzhen He, Rui Li, Changsheng Duan, Xingguang Beijing Institute of Technology School of Medical Technology Beijing100081 China Capital Medical University Beijing Jishuitan Hospital Beijing100035 China Beijing Institute of Technology School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing100081 China

Tissue retraction, one of the basic steps in orthopedic surgery, is related to the smooth entry of surgical instruments into the surgical area and provides a clear surgical perspective for surgeons. This work introduces the first robot-assisted retraction system (RARS) specifically designed for orthopedic surgery. The RARS allows surgeons to set a safe retraction force and roughly set the posture of the retraction device at the beginning. To ensure that the RARS automatically completes the task in a safe manner, we propose a safety control framework that employs iterative enhanced control based on interaction model to handle the retraction interaction problem, and avoids interference with the operation of surgeons through null-space optimization. First, we performed a performance test of the RARS on a phantom model, and the results showed that the maximum tracking error of the retraction force was 0.51N, demonstrating satisfactory tracking performance. Second, we validated the effectiveness of null-space optimization by observing the evolution of joint positions. Finally, we conducted experiments on in-vivo animal and the results showed that the proposed RARS exhibited superior performance in safe retraction force tracking accuracy and tissue damage compared to traditional manual retractions. © 2018 IEEE.

关键词： Robotic surgery

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Modeling and Optical Simulation of Varifocal Diffraction Alvarez Lenses Based on Phase Plates 10

Modeling and Optical Simulation of Varifocal Diffraction Alv...

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10th Symposium on Novel Optoelectronic Detection Technology and Applications

作者： Liu, Lin Liu, Mengyao Hao, Qun Cheng, Yang Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing100081 China Yangtze Delta Region Academy of Beijing Institute of Technology Jiaxing314019 China

ISBN: (数字)9781510688155

ISBN: (纸本)9781510688148

Varifocal lenses have received extraordinary attention owing to their varifocal property, which offers the ability to image targets at different distances. Compact and wide varifocal lenses could find usage in many application fields such as biomedical engineering, industrial imaging, and beam manipulation. The model and optical simulation of varifocal Alvarez lenses, which include two thin phase diffraction plates are carried out in this paper. The proposed varifocal Alvarez lenses can achieve a wide and continuous varifocal range at a small lateral displacement between these two phase plates. The results show that when the lateral displacement of the phase plates varies from 0 mm to 1 mm, the focal length of the proposed varifocal diffraction Alvarez lenses changes from 25 mm to 125 mm, which indicates that the varifocal ratio is 5×. The proposed varifocal lenses demonstrate an excellent application prospect in varifocal imaging fields. © 2025 SPIE.

关键词： Optical instrument lenses

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Kangaroo Tail-Inspired Variable Stiffness Executive Mechanism for Rescue robots

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IEEE Robotics and Automation Letters 2025年第6期10卷 5943-5950页

作者： Lu, Maoshi Zhao, Yanzhi Ma, Feixiang Shan, Yu Zhang, Bowen Yanshan University Key Laboratory of Parallel Robots and Mechatronic Systems Qinhuangdao066004 China Yanshan University College of Mechanical Engineering Qinhuangdao066004 China Dalian University of Technology College of Mechanical Engineering Dalian116024 China

In the field of casualty extraction and rescue, a key challenge is avoiding secondary injuries to the human body during rescue operations. Currently, most rescue robot executive mechanisms are rigid, which increases the risk of contact-related injuries. To address this issue, a rescue executive mechanism with variable stiffness, inspired by the kangaroo tail, is proposed. This mechanism can adapt to the human body's contours with flexible contact while providing sufficient rigidity and load-bearing capacity. By applying the layer jamming principle, the mechanism achieves variable stiffness, enabling it to self-adapt to the human body profile and support large loads. Drawing inspiration from the rigid support and shape adaptability of the kangaroo tail, a 3D model and a prototype of the executive mechanism were developed using bionic principles. The mechanism's performance was validated through variable stiffness tests, contour adaptation tests, and human model holding and loading experiments. The results demonstrate that the rescue robot executive mechanism exhibits high load-bearing capacity (load 32.17 kg), strong adaptability, and enhanced safety, effectively addressing the limitations of rigid mechanisms that may harm the human body. © 2016 IEEE.

关键词： Tail Jamming Pins Rescue robots robots Wire Injuries Muscles Friction Shape

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DSE: A Denoising State Estimator for RL-Based Bipedal Robot Locomotion

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IEEE Robotics and Automation Letters 2025年第7期10卷 6736-6743页

作者： Du, Yidong Zhou, Zishun Chen, Xuechao Yu, Zhangguo Wu, Jiahao Zhang, Yuanxi Zhao, Qingrui Huang, Qiang Beijing Institute of Technology School of Mechatronical Engineering Beijing 100081 China Ministry of Education Key Laboratory of Biomimetic Robots and Systems Beijing 100081 China

Recent advancements in legged robot locomotion and reinforcement learning have demonstrated significant potential for the development of bipedal robot. But the state estimation accuracy and bipedal robot locomotion robustness of Reinforcement Learning based (RL-based) controller is significantly influenced by IMU's measurement noise. High-precision IMUs can obtain accurate information, but manufacturing cost is high, while robots equipped with low-price IMUs may face large noise and bias in-consistence. In this paper, we propose a novel denoising autoencoder-based state estimator (DSE) to address sensor noise cancellation and state estimation problem in RL-based bipedal robot locomotion control. The DSE architecture learns a compact representation of robots' system dynamics behind those low-price IMU's noisy data and provides noise reduced measurements and accurate state estimation for learning-based controller. We demonstrate the effectiveness of the DSE architecture in reducing noise and enhancing the robustness of both state estimation and locomotion control in various indoor and outdoor experiments. The results highlight the potential of DSE framework in facing noise distribution difference between simulation and reality. © 2016 IEEE.

关键词： Bipedal robot Noise cancellation Reinforcement learning State estimation

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Design of Remote Operating System for Touch-Control Medical Monitoring Equipment in ICU 17th

Design of Remote Operating System for Touch-Control Medica...

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17th International Conference on Intelligent Robotics and Applications, ICIRA 2024

作者： Ma, Yiming Huang, Junhui Duan, Xingguang Li, Changsheng Li, Jianxi School of Mechatronical Engineering Beijing Institute of Technology Beijing10081 China School of Medical Technology Beijing Institute of Technology Beijing10081 China The Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Ministry of Education Beijing100081 China

ISBN: (纸本)9789819607761

The COVID-19 pandemic has significantly affected the global community, imposing high demands on frontline medical professionals. A critical challenge is to enhance the safety of these workers while keeping medical operations efficient. To tackle this, we developed a Remote Operating System (ROS) for touch-controlled medical monitoring devices in ICU, comprising a client-side user interface and a server-side Remote Interaction Platform (RIP). The ROS is versatile, and compatible with various touch-screen-controlled hospital monitoring devices, enabling remote real-time monitoring and control via the client interface. Tested on a ventilator in an ICU, the ROS showed remarkable convenience. The process—from launching the client interface and adjusting the video stream to completing operations—takes under a minute. Furthermore, it reaches high accuracy, demonstrating the system’s reliability and its potential to minimize infection risks and alleviate the work pressure on healthcare workers in high-stress ICU environments. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Touch screens

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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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