Name: cardiac muscle-cell based actuator and self-stabilizing biorobot - part 1
Uploaded: 2017-07-11T13:00:00.000+00:00
Duration: 11 min 22 s
Description: Watch this Scientific Journal Video about Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1 at JoVE.com

MT Holley由路易斯安那州理事会研究生研究员计划和C. Danielson由霍华德·休斯医学院教授课程支持。这项研究得到NSF授权号:1530884的支持。作者要感谢高级微结构和器件中心（CAMD）的洁净室的支持。

1.计算PDMS和添加剂的质量<ol><li>使用以下公式找到以下程序中特定高度所需PDMS的质量， M =ρ* V =ρ*高度*面积（1）， "高度"是层的高度，"面积"是PDMS将被固化的容器的面积，"ρ"是混合物的密度，"V"是体积。 注意:高度计算的密度为PDMS = 0.965 g / mL，Ni-PDMS = 1.639 g / mL，MB-PDMS = 0.648 g / mL。 </li><li>使用方程（1）估计给定容器所需的PDMS的质量，以获得生物致动器底座的特定高度（5mm）。得到的PDMS密度为0.965g / mL。 注意:固化剂的重量比为10:1。 M base =ρ* V =ρ* V *（ <img alt="方程" src="/files/ftp_upload/55642/55642eq1.jpg" /> ）（2） M 固化剂 =ρ* V =ρ* V *（ <img alt="方程" src="/files/ftp_upload/55642/55642eq2.jpg" /> ） </li><li>使用方程（1）找出对于给定容器所需的Ni-PDMS的质量，以获得biorobot底部的特定高度（1.5mm）。 注:比例为1:1.88（镍粉与PDMS的重量比）和1:1.71:0.171（镍粉对PDMS碱与PDMS固化剂的重量）。所得的Ni-PDMS密度为1.639g / mL。 M 镍 =ρ* V =ρ* V *（ <img alt="方程" src="/files/ftp_upload/55642/55642eq3.jpg" /> ）（3） M base =ρ* V =ρ* V *（ <img alt="方程" src="/files/ftp_upload/55642/55642eq4.jpg" /> ） M 固化剂 =ρ* V =ρ* V *（ <img alt="方程" src="/files/ftp_upload/55642/55642eq5.jpg" /> ） </li><li>类似地，使用等式（1）到f<html>对于给定的容器，需要MB-PDMS的质量来获得biorobot的顶部基座的特定高度（3.5mm）。 注意:比例为1:5（微球与PDMS的重量比）和1:4.54:0.454（按PDMS固化剂的PDMS基重量的微球）。所得到的MB-PDMS密度为0.648g / mL。 M 微球 =ρ* V =ρ* V *（ <img alt="方程" src="/files/ftp_upload/55642/55642eq6.jpg" /> ）（4） M base =ρ* V =ρ* V *（ <img alt="方程" src="/files/ftp_upload/55642/55642eq7.jpg" /> ） M 固化剂 =ρ* V =ρ* V *（ <img alt="方程" src="/files/ftp_upload/55642/55642eq8.jpg" /> ） </li><li>使用分析脚本检查具有所需尺寸和几何尺寸的biorobot的动态稳定性;请参阅补充信息"Biorobot_dynamic_stability.m"和"CG_CB_calculation.m"。 </li></ol>_title"&gt; 2。固定基地上的生物执行器的制造注意:见图1a。 <ol><li> 旋涂PDMS薄膜（见图1a-1和a2）。所得PDMS膜的厚度为25μm。 <ol><li>将硅晶片放置在光致抗蚀剂旋转器上，并将泵开关翻转，以产生吸力。 注意:硅晶片的直径为4英寸，厚度为500微米。 </li><li>将正性光致抗蚀剂（ 例如 S1808）倒入硅晶片上，直到晶片完全覆盖。编程旋转器以2000 rpm旋转20秒。然后，通过按压脚踏板接合旋转器。旋转后关闭吸力。 </li><li>将热板加热至120°C。使用晶圆镊子从旋转器中取出硅晶片，并将硅晶片直接放在电热板上。用浅培养皿覆盖晶片，烘烤10分钟。 注意:烤箱可以用于烤箱使用相同的温度和持续时间。 图1a-1描述了这个过程。 </li><li>将塑料容器放在称重秤上并将其清零。将6g PDMS底物倒入容器中，加入0.6g PDMS固化剂。将PDMS彻底混合5分钟。 注意:混合后，混合物应与气泡汇合。 </li><li>将混合PDMS的容器放入真空室中。将真空室的压力降低至100毫巴，并将容器放在室内30分钟。打破真空，取出容器。保持容器盖直到使用。 </li><li>将硅晶片与烘烤的光致抗蚀剂层放置在旋转器上。将整个脱气的PDMS混合物缓慢倒入晶片上。 注意:缓慢倒入，以免混合物中引入新的气泡。 </li><li>将旋转器设置为1,200 rpm，持续5分钟。打开旋转器抽吸并接触旋转器。旋转后关闭吸力。 注意:T这些设置会导致一个25μm厚的PDMS层。 </li><li>将烤箱加热至40°C。使用晶圆镊子从旋转器中取出硅片，然后将其放入烤箱。将晶片烘烤过夜，然后在室温下冷却晶片。 注意: 图1a-2描述了这个过程。 </li></ol></li><li> 激光雕刻薄膜PDMS层。 <ol><li>打开激光雕刻机的电源开关及其排气。打开连接到激光雕刻机的计算机。打开激光雕刻软件。 </li><li>在"文件"选项下，打开生物执行器设计文件，如图2e所示。 <ol><li>按"设置"按钮。点击"蓝色"，将功率设置更改为3％，速度设置为4％。点击"设置"。点击"黑色"并更改"模式"跳过。然后点击"设置"。对"红"也一样。按"应用"按钮完成设置"。 </li><li>按右上角的"激活刻录机"按钮。 </li></ol></li><li>按"移动"按钮将设计移动到软件屏幕的中央。 </li><li>按程序中的"焦点视图"按钮，然后单击屏幕上的biorobot边缘。这将激光雕刻机的引导激光点移动到相应的位置。 </li><li>用镊子手动移动晶片，使得与2.2.4中点击的点相对应的晶片上的点直接在引导点下方。 </li><li>按"开始刻印先前作业"按钮开始雕刻过程。雕刻完成后取出晶圆。关闭所有设备。 注意:"开始刻印先前的作业"按钮是大的绿色三角形。不要直视雕刻过程，因为激光可以损伤眼睛。 图1a-3描绘了这个过程。 </li&gt; </ol></li><li> 生物致动器基座的制备和制造。 <ol><li>将玻璃珠（3mm直径）倒入15 mL管中。将珠粒与70％乙醇浸入去离子水中24小时。取出乙醇并用DI水填充管24小时。倒出去离子水，将管放在50℃的电热板上，以便玻璃珠的干燥。 </li><li>在公式（1）中添加3 g到PDMS的量，以解释在倾倒期间粘附到容器侧的PDMS。使用公式（2）找到PDMS碱和固化剂量。 </li><li>将塑料容器放在称重秤上并将其清零。将步骤2.3.2中找到的PDMS基础数量倒入容器中并将其清零。然后将步骤2.3.2中发现的PDMS固化剂的量倒入容器中。 </li><li>将PDMS彻底混合5分钟。 注意:PDMS以10:1碱与固化剂的比例使用。混合物应该有很多气泡。 </li><li>地点一个容器用于刻度和零点烘烤。小心地将步骤2.3.2中找到的正确数量的PDMS（并在步骤2.3.4中混合）倒入容器中。定期将PDM混合物中的玻璃珠清洁干净。为生物执行器基座留出每个珠周围至少5毫米的空间。 </li><li>将容器放入真空室。将真空压力降至100毫巴，关闭真空泵。 30分钟后，打破真空并取出容器。保持使用。 注意:当混合物脱气并且真空室泄漏时，室内的压力可能会随时间缓慢上升。如果压力大大超过100毫巴，打开真空泵将压力恢复到100毫巴。 </li><li>将电热板加热至40°C。小心地将PDMS容器和玻璃珠放在热板上。盖上容器并过夜烘烤。 </li></ol></li><li> 生物执行器组件。 </st荣&gt; 注意:以下步骤可以用肉眼完成。 <ol><li>使用剃刀刀片从零件2.3中制成的散装PDMS中切割立方体（5 mm x 5 mm x 5 mm）。 注意:一个珠应位于每个立方体的中心。 </li><li>清洁每个生物执行器底座的所有侧面，通过将基座压入磁带并移除，去除基面上的任何污染物。为每一方重复。 </li><li>重做步骤2.3.2〜2.3.6，制成少量液体PDMS。将针头浸入液体PDMS中。将一滴液体PDMS放置在步骤2.2中图案化的晶片的雕刻基底区域上。涂抹PDMS的液滴，使其完全覆盖5 mm x 5 mm的基面积。 注意:基座区域是图2a中的中间正方形部分。 </li><li>使用镊子将清洁的立方体从步骤2.4.2放置在液体PDMS覆盖的基础区域上。 </li><li>重复步骤2.4.3从"放一滴液体PDMS"到end和步骤2.4.4对于将要进行的每个设备。 </li><li>将电热板加热至40°C。小心地将硅片与组件放在热板上。盖上晶片并烘烤过夜。 注意:使用前请保留组件。 图1a-4描绘了最终的装置。 </li></ol></li></ol> 3.制作Biorobots（图1b） <ol><li> 旋涂和激光雕刻薄PDMS薄膜 <ol><li>使用新的硅晶片重复2.1和2.2中的所有步骤。这将导致具有PDMS的薄膜和光致抗蚀剂的薄膜的硅晶片，其被刻有双酚酸设计。 注意:在重复步骤2.2时，使用biorobot设计进行激光雕刻，而不是之前使用的生物驱动器设计。 图1b-1和b-3描述了这些过程。 </li></ol></li><li> PDMS组合物的制备和制备站点。 注意:以下步骤可以用肉眼完成。 <ol><li>将酚类微球倒入50mL管中直至充满。在管中加入70％乙醇的DI水，放置24h。倒出乙醇，加入去离子水，放置24小时。倒出DI水，然后将管放在50℃的电热板上，以方便使用前对微球进行干燥。 </li><li>使用MB-PDMS密度和3.5 mm高度的方程（1）找到所需的PDMS体积。添加3 g至总量，以计算浇注后将留在容器中的材料。使用公式（3）找到PDMS基础和固化剂量。使用秤测量适量的PDMS碱，固化剂和微球。 </li><li>使用Ni-PDMS密度和1.5 mm高度的方程（1）找到所需的PDMS体积。加入3g，如步骤3.2.2所示。使用公式（2）找到PDMS基础并固化a总量。使用秤测量适量的PDMS基，固化剂和镍粉。 </li><li>将MB-PDMS和Ni-PDMS的每种混合物混合5分钟。将3.2.2和3.2.3中计算出的正确数量的MB-PDMS和Ni-PDMS小心地倒入分开的容器中。 注意:混合物应通过金属或玻璃棒充分混合，而不会刮伤混合容器的底部表面。混合物将与气泡汇合。 </li><li>将两个容器放入真空室。将其压力降至100毫巴30分钟。打破真空并取出容器。保持使用。 </li><li>将电热板加热至40°C。将MB-PDMS和Ni-PDMS容器放在热板上。盖上每个容器并过夜烘烤。 注意:使用盖子存放。 </li></ol></li><li> Biorobot装配。 <ol><li>从Ni-P切割尺寸相当于每个biorobot尺寸的biorobot基座DMS和MB-PDMS使用剃刀刀片。有关基本设计，请参见图2b-2d 。 注意:Ni-PDMS的厚度为1.5 mm，MB-PDMS的厚度为3.5 mm。 </li><li>清洁biorobot底座的所有侧面，以清除表面上的任何污染物，将基座压入胶带并取出。为每一方重复。 </li><li>打开电晕放电器。将电晕放电器的尖端放在Ni-PDMS基体上方1厘米处，放置在金属板之间，其间具有洁净室组织。将尖端移动到底座周围，并持续15秒以处理表面。 注意:电晕放电器和晶圆之间应发生放电。如果没有，请将尖端靠近，直到出现放电。 </li><li>重复步骤3.3.3，以处理在步骤3.1中雕刻的仿生植物的基部表面相同的持续时间。使用镊子将Ni-PDMS处理侧放置在胶片的处理面上。让设备坐5分钟。 注意:这将strongly键两部分。 见图1b4 。 </li><li>使用尖锐的镊子从晶圆上剥下Biorobot悬臂，将其放在Ni-PDMS底座的底部。使用镊子从晶片上移除整个组件。 注意:悬臂将连接到Ni-PDMS基座。 图1b-5和b-6描述了这一点。 </li><li>在MB-PDMS基础的顶部放置一小片未固化的PDMS（10:1碱固化剂）。使用镊子将带有薄膜PDMS的Ni-PDMS侧面与未固化的PDMS放在MB-PDMS上。将组件放入塑料培养皿中，然后将其置于40℃的电热板上，以固化过夜。 注意: 图1b-7描绘了最终的设备。 </li></ol></li></ol> 4.器件功能化注意:下面我们将介绍准备细胞播种装置的过程。 <ol><li>预备是补充有10％胎牛血清（FBS）和1％青霉素抗生素（DMEM完成）的纤维连接蛋白溶液（50μg/ mL），磷酸盐缓冲盐水溶液（PBS），Dulbecco&#39;s Modified Eagle培养基（DMEM）。 </li><li>将100μL纤连蛋白溶液放入T-25培养瓶的中心（烧瓶直立时的底面）。为每个设备维护单独的烧瓶。 </li><li>将biorobot或生物致动器朝下放置在纤连蛋白溶液的液滴上。确保悬臂展开并浸入液滴中。在37℃孵育30分钟。 </li><li>培养后，取出纤连蛋白溶液，用PBS洗涤两次。 </li><li>取出PBS，并用10ml DMEM充满烧瓶。在37℃孵育1小时以促进PDMS脱气。为了将培养基淹没在10 mL培养基中，请使用磁铁将设备固定在烧瓶的底部。把烧瓶放在一边在超声波浴中放置5分钟以除去气泡。 注意:在潜伏期间，在PDMS表面形成气泡，这里称为脱气。在Biorobot装配中使用的Ni-PDMS是磁性的。生物致动器不需要磁体，因为它将由于玻璃珠的重量而保留在烧瓶的底部。生物执行器组件现在准备好播种，这在第2部分中有详细的说明。 </li></ol>

<ol>
	<li>Williams, B., Anand, S., Rajagopalan, J., Saif, M. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+self-propelled+biohybrid+swimmer+at+low+Reynolds+number.">A self-propelled biohybrid swimmer at low Reynolds number.</a> Nat commun. 5, (2014).</li><li>Nawroth, J., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+tissue-engineered+jellyfish+with+biomimetic+propulsion.">A tissue-engineered jellyfish with biomimetic propulsion.</a> Nat Biotechnol. 30 (8), 729-797 (2012).</li><li>Huge Herr, ., D, <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+swimming+Robot+Actuated+by+Living+Muscle+Tissue.">A swimming Robot Actuated by Living Muscle Tissue.</a> J Neuroeng. Rehabil. 1, (2004).</li><li>Park, S., al, e. l. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Phototactic+guidance+of+a+tissue-engineered+soft-robotic+ray.">Phototactic guidance of a tissue-engineered soft-robotic ray.</a> Science. 353 (6295), 158-162 (2016).</li><li>Chan, V., Park, K., Colleens, M., Kong, H., Saif, T., Bashir, R. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Development+of+miniaturized+walking+biological+machines.">Development of miniaturized walking biological machines.</a> Sci. Rep. 2, 857 (2012).</li><li>Cvetkovic, C., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Three-dimensionally+printed+biological+machines+powered+by+skeletal+muscle.">Three-dimensionally printed biological machines powered by skeletal muscle.</a> PNAS. 111, 10125-10130 (2014).</li><li>Xi, J., Scmidt, J., Montemagno, C. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Self-assembled+microdevices+driven+by+muscle.">Self-assembled microdevices driven by muscle.</a> Nat. Mater. 4, 180-184 (2005).</li><li>Kim, J., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Establishment+of+a+fabrication+method+for+a+long-term+actuated+hybrid+cell+robot.">Establishment of a fabrication method for a long-term actuated hybrid cell robot.</a> Lab Chip. 7, 1504-1508 (2007).</li><li>Tanaka, Y., Sato, K., Shimizu, T., Yamato, M., Okano, T., Kitamori, T. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=A+micro-spherical+heart+pump+powered+by+cultured+cardiomyocytes.">A micro-spherical heart pump powered by cultured cardiomyocytes.</a> Lab Chip. 7, 207-212 (2007).</li><li>Park, J., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Micro+pumping+with+cardiomyocyte-polymer+hybrid.">Micro pumping with cardiomyocyte-polymer hybrid.</a> Lab Chip. 7, 1367-1370 (2007).</li><li>Akiyama, Y. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Atmospheric-operable+bioactuator+powered+by+insect+muscle+packaged+with+medium.">Atmospheric-operable bioactuator powered by insect muscle packaged with medium.</a> Lab Chip. 13, 4870-4880 (2013).</li><li>Kabumoto, K., Hoshino, T., Akiyama, Y., Morishima, K. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Voluntary+movement+controlled+by+the+surface+EMG+signal+for+tissue-engineered+skeletal+muscle+on+a+gripping+tool.">Voluntary movement controlled by the surface EMG signal for tissue-engineered skeletal muscle on a gripping tool.</a> Tissue Eng. Part A. 19, 1695-1703 (2013).</li><li>Feinberg, A., Feigel, A., Shevkoplyas, S., Sheehy, S., Whitesides, G., Parker, K. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Muscular+thin+films+for+building+actuators+and+powering+devices.">Muscular thin films for building actuators and powering devices.</a> Science. 317 (5843), 1366-1370 (2007).</li><li>Vannozi, L., et al. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Self-assembly+of+polydimethylsiloxane+structures+from+2D+to+3D+for+bio-hybrid+actuation.">Self-assembly of polydimethylsiloxane structures from 2D to 3D for bio-hybrid actuation.</a> Bioinspiration Biomimetics. 10 (5), (2015).</li><li>Holley, M. T., Nagarajan, N., Danielson, C., Zorlutuna, P., Park, K. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Development+and+characterization+of+muscle-based+actuators+for+self-stabilizing+swimming+biorobots.">Development and characterization of muscle-based actuators for self-stabilizing swimming biorobots.</a> Lab Chip. 16, 3473-3484 (2016).</li><li>Sfakiotakis, M., Lane, D., Davies, J. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Review+of+fish+swimming+modes+for+aquatic+locomotion.">Review of fish swimming modes for aquatic locomotion.</a> IEEE J. Oceanic Eng. 24, 237-252 (1999).</li><li>McCain, M., Agarwal, A., Hesmith, H., Nesmith, A., Parker, K. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Micromolded+gelatin+hydrogels+for+extended+culture+of+engineered+cardiac+tissues.">Micromolded gelatin hydrogels for extended culture of engineered cardiac tissues.</a> Biomaterials. 35 (21), 5462-5471 (2014).</li></ol>

作者没有什么可以披露的

水中游泳者中可以发现各种运动机制16 。本研究中Biorobot的运动机制采用鳍状运动，特别是鸵鸟运动。鸵鸟式游泳者通过摇摆尾巴（悬臂）并具有刚体（分层底座）推动自己16 。鱼类，如鱼类和鲶鱼使用这种类型的运动。玄武岩型游泳运动员通常很慢，身体尺寸无效。虽然鸵鸟游泳缺乏速度，这种游泳形式允许工程师在基座或身体上实现各种功能（如动态稳定性）。本研究开发的biorobot设计是基于浮动和稳定的坚实基础，具有自动驱动悬臂作为推进机构。本研究中制作Biorobot的最重要的步骤之一是薄膜PDMS和激光雕刻工艺形成罐头杠杆。没有干净的悬臂，正确的PDMS混合物（弹性），正确的厚度（弹簧常数）和尺寸（足够的面积用于汇合心肌细胞粘附以产生运动），biorobot将不会运作。此外，还需要通过超声波处理从悬臂表面去除所有的气泡以产生心肌细胞附着的可行表面。 开发的PDMS复合材料，MB-PDMS和Ni-PDMS可用于精确控制浸入深度，并成功地产生了Biorobots的动态稳定性。这些材料的质量密度可以被微调， 如图3a所示。此外，这些材料对于心肌细胞的成熟和收缩没有显示任何负面影响，正如我们最近的研究15所示 。因此，开发的材料可以广泛用于实现自稳定和浮动结构e为biorobots和其他应用程序。 虽然目前的协议是能够建立一个自我稳定的游泳混合动力，但它有一些限制。首先，当从晶片手动剥离悬臂时，悬臂可能在该过程中变形，并且影响Biorobot性能的重复性受到影响。这可以通过使用水溶性牺牲层代替光致抗蚀剂层来解决，使得悬臂可以容易地从晶片去除;更大的悬臂也可以用于更高的功率。二，手续主要依靠手工操作。制造程序可以精简，以提高效率。例如，可以修改包括心肌细胞接种的组装过程，以便在晶片级别而不是单独的器件级别上进行。最后，优化Biorobot三角形底座的形状，以提高游泳的方向性和稳定性。 &lt;p class ="jove_content"&gt;使用活体肌肉细胞产生的力量的Biorobots作为传统的全人造机器人的替代品具有相当大的兴趣。该协议使用软光刻和生物MEMS技术来生产自稳定游泳混合动力。具体的设计可以进一步完善。可以通过对悬臂表面上的心肌细胞的取向线图进行图案化来提高致动器的效率。这将促进细胞取向并且可以增加肉食焦点17的力产生。尺寸也可以变化，或者可以连接多个悬臂，以进一步增加同步收缩的净力。如前所述，多层底座允许在介质表面上方定制芭比娃娃的高度。这确定了最大承载负载和稳定性。此外，我们可以将导电材料替代或添加到悬臂上，以便f促进电刺激。电刺激可以用来控制细胞的收缩率和速度。我们相信，所提出的方法可用于开发高效率的Biorobots用于诸如小包装递送等应用。

正在积极研究生物执行器和双子座，以便为众多应用提供常规机器人的替代方案。步行5,6,7,8的Biorobots游泳1，2，3，4 ，泵9,10 ，或手柄11，12，13 已经开发。类似地，肌肉细胞可以并入3D卷状PDMS结构14中 。通常，使用具有诸如水凝胶和PDMS（聚二甲基硅氧烷）的材料的软平版印刷技术来制造Biorobot骨架。这些是有吸引力的选择，因为它们的灵活性，biocompatib容易调整刚度。活体肌细胞通常与这些材料结合以通过收缩提供力产生。哺乳动物的心肌细胞（心肌细胞）和骨骼肌细胞主要用于致动。除了这两个之外，昆虫肌肉组织已经用于在室温下操作双子座3 。在这两部分研究中，选择了心肌细胞，因为它们的自发收缩6 。 早期关于biorobots的研究大部分集中在开发生物执行器，而Biorobot架构的优化和Biorobots的基本功能的发展在很大程度上被忽视。最近有一些报告显示了不同游泳模式的实施，这些模式受到自然界中发现的推进模式的启发。这些方法包括PDMS膜和肌肉细胞以模拟各种天然推进方法。例如，已经报道了基于鞭毛的推进1 ，仿生水母推进2 ，生物混合射线4和薄膜PDMS游泳装置13 。 在本文中，我们介绍了可以保持浸入深度以及俯仰和滚动的自稳定游泳芭比娃娃的制作过程。 biorobot具有坚实的基部或身体，其由附着在其表面上的心肌细胞的单个悬臂推动。当心肌细胞收缩时，心肌细胞使得悬臂在纵向方向上弯曲。这种游泳形式被列为鸵鸟游泳。在基地添加额外功能的能力是鸵鸟游泳的独特优势。例如，可以利用该基础来提供过量的浮力以携带用于心肌细胞收缩的附加货物或控制电路。 稳定性在以前的biorobots研究中，biorobot经常被忽视。在本研究中，我们通过使用具有不同质量密度的不同复合PDMS材料设计基体来实现自稳定。因此，biorobot表现出对外部干扰的抵抗力，并保持其浸没深度，俯仰和滚动，无人值守。第一层是微球PDMS（MB-PDMS）， 即与微球混合的PDMS，降低了Biorobot的密度，使其能够漂浮在介质中。第二层是PDMS悬臂，其厚度被定制，使得由心肌细胞产生的力可以使悬臂从45°到90°显着弯曲。底层为镍-PDMS（Ni-PDMS）， 即与镍粉混合的PDMS。该层执行多个功能。它是磁性的，因此在细胞播种期间，使用磁铁，可以将biorobot锚定在培养基的底部。镍混合物的密度比MB-PDMS高中等，并确保漂浮时的biorobot的直立位置。该层的重量在任何间距和滚动条件下都能够在biorobot上产生恢复扭矩。此外，Ni-PDMS和MB-PDMS之间的体积比保持浸没深度。所提出的方案对于对表征肌肉细胞和组织的打击力以及希望建造游泳混合动物的人来说是非常有用的。 功能化生物致动器和双极器件的接种，细胞的机械和生物化学特征以及器件功能的定量分析在这两篇文章的第2部分以及最近的工作中有详细描述。

<table><tbody><tr><td>Polydimethylsiloxane (PDMS)</td><td>Dow Corning</td><td>184 sil elast kit&amp;nbsp; 0.5kg</td><td>Sylgard 184</td></tr><tr><td>Nickel Powder</td><td>Sigma-Aldrich</td><td>266981-100G</td><td></td></tr><tr><td>Phenolic microballoons</td><td>US Composites</td><td>BJO-0930</td><td></td></tr><tr><td>Silicon wafers</td><td></td><td></td><td>4 inch diameter</td></tr><tr><td>PWM101 light-duty spinner</td><td></td><td></td><td>Spin- coater</td></tr><tr><td>Positive photoresist (S1808)</td><td>Dow Corning</td><td>DEM-10018197</td><td></td></tr><tr><td>Hotplate</td><td></td><td></td><td></td></tr><tr><td>Vacuum chamber</td><td></td><td></td><td></td></tr><tr><td>M206 mechanical convection oven</td><td></td><td></td><td>Convection oven</td></tr><tr><td>Laser engraver</td><td>Universal Laser System</td><td>VLS2.30</td><td>Utilizes a 10 W, 10.6 &amp;micro;m wavelength, CO&lt;sub&gt;2&lt;/sub&gt; Laser</td></tr><tr><td>Universal Laser Systems Application</td><td>Universal Laser System</td><td></td><td>Application for running the VLS 2.30</td></tr><tr><td>Matlab</td><td>MathWorks</td><td></td><td>Numerical analysis program</td></tr><tr><td>Scotch Tape</td><td>Scotch Brand</td><td></td><td></td></tr><tr><td>Solid-glass beads</td><td>Sigma-Aldrich</td><td>Z265926-1EA</td><td>Soda-lime glass, diameter 3 mm</td></tr><tr><td>Scale</td><td>Mettler Toledo</td><td>EL303</td><td></td></tr><tr><td>BD-20AC Laboratory Corona Treater</td><td>Electrotechnic Products</td><td>12051A</td><td>Corona Discharger</td></tr><tr><td>Ultrasonic Bath 1.9 L</td><td>Fisher Scientific</td><td>15-337-402</td><td>40 kHz industrial transducer</td></tr><tr><td>Fibronectin from bovine plasma</td><td>Sigma-Aldrich</td><td>F1141</td><td></td></tr><tr><td>Dulbecco&amp;rsquo;s Phosphate Buffer (PBS)</td><td>Sigma-Aldrich</td><td>D1408-100ML</td><td></td></tr><tr><td>Dulbecco&amp;rsquo;s Modified Eagle Medium (DMEM)</td><td>Hyclone Laboratories</td><td>16750-074</td><td>With 4500 mg/L glucose, 4.0 mM L-glutamine, and 110 mg/L sodium pyruvate.</td></tr><tr><td>Fetalclone III serum</td><td>Hyclone Industries, GE</td><td>16777-240</td><td>Fetal bovine serum</td></tr><tr><td>Penicillin-G sodium salt</td><td>Sigma-Aldrich</td><td>P3032</td><td></td></tr></tbody></table>

cardiac muscle-cell based actuator and self-stabilizing biorobot - part 1

生物机器通常被称为双子座，是活体细胞或基于组织的装置，其仅由活体组分的收缩活性来驱动。由于其固有的优势，双子座作为传统全人造机器人的替代品正在获得兴趣。各种研究集中在利用生物执行器的力量，但是最近的研究已经定量地表征了Biorobots的性能，并研究了它们的几何形状以增强功能和效率。在这里，我们展示了一个自我稳定的游泳水族箱的发展，可以在没有外部干预的情况下保持其俯仰，深度和滚动。在第一部分中描述了用于生物致动器和biorobot的PDMS支架的设计和制造，随后用纤连蛋白进行官能化。在这篇两部分文章的第二部分中，我们详细介绍了心肌细胞的结合和表征生物活化ator和biorobot功能。两者都包括产生基于翅片的推进的基部和尾部（悬臂）。尾部由使用PDMS和激光雕刻的软光刻技术构成。将尾部与装置基底结合后，用细胞粘附蛋白功能化，并与心肌细胞融合。生物致动器的基座由具有中心玻璃珠（作为重量）的固体PDMS块组成。 biorobot的基础由两个复合PDMS材料，Ni-PDMS和microballoon-PDMS（MB-PDMS）组成。镍粉（Ni-PDMS）允许细胞播种期间的biorobot的磁控制和运动期间的稳定性。微球（MB-PDMS）降低MB-PDMS的密度，使Biorobot能够稳定地游泳和游泳。使用这两种具有不同质量密度的材料，能够精确控制重量分布，以确保在biorobot的任何角度处的积极恢复力。这个技巧产生一个磁力控制的自稳定游泳混合动力。

生物致动器和双子座具有非常相似的制造工艺，因为biorobot是生物致动器的自然延伸（ 图1 ）。首先开发生物致动器以建立生物机器所需的技术，分析由细胞产生的力并且机械和生物化学地表征细胞成熟，这两者在这两篇文章的第2部分中详细描述就像我们最近出版的作品一样。 评估和调整致动器的弹簧常数，以在心肌细胞片完全收缩期间悬臂的曲率半径发生大的变化。然后，我们设计了biorobot，同时特别考虑了其稳定性，细胞播种期间的控制和运动的便利性。最初，选择了几种设计，如图所示在图2b-2d中 ，具有不同的属性来评估哪些属性对设计要求最有贡献。 Biorobots设计和测试与短，长和宽的悬臂，以及多个悬臂，以测试执行器变化对Biorobot功能的影响。我们也考虑到不同尺寸的浮底。基座的几何形状保持为三角形，因为它产生导致定向运动的不对称性。 biorobot的稳定性是设计过程中的关键组成部分。顶部的MB-PDMS层用于为设备提供浮力，而底部的Ni-PDMS层用于稳定性和磁控制。由于密度较高，由镍制成的基底层可以使biorobot保持其自身直立的能力，并在暴露于外部干扰之后返回其原始位置;如图3所示</st荣&gt;。该层还提供足够的重量以将装置保持在适当的水平。在这项研究中，我们提供了一种替代方法，开发一种biorobot，其重点是改变机械骨架的性质以创建自稳定结构。与文学中的其他教学笔不同，这里开发的biorobot可以保持自己的音调，滚动和浸入深度。可以通过改变每种复合材料的混合比和它们的体积来调节这些参数。然而，在设备内的每个基底的总厚度存在限制，超过该基底的稳定性受到影响。 以下等式可以描述培养基表面之上的双子座的高度: <img alt="方程" src="/files/ftp_upload/55642/55642eq9.jpg" /> 其中H Ni ， H Mb ， ρ 介质 ， ρMb和ρ <sub&gt; Ni分别为Ni-PDMS的厚度，MB-PDMS的厚度，介质的密度，MB-PDMS的密度和Ni-PDMS的密度（参见图3b ）。 biorobots的高度是影响其可承载的最大载荷及其稳定性的一个关键因素。加载在基座上的额外的重量将将双体飞镖降低到介质中，并且较大体积的底座将被淹没。要淹没的额外体积的密度低于介质的密度，并产生额外的浮力以提高增加的重量。因此，为了增加最大载重量，我们需要尽可能地增加h 。然而，随着h增加，biorobot的稳定性将降低。为了获得最大的稳定性，底座的重量应该尽可能的低。然而，增加h将使biorobot的重量中心靠近或高于介质，从而破坏了biorobot的稳定性。因此，需要进行详细分析以便在修改生物宝箱的基础结构之前同时优化稳定性和最大承载载荷。 为了确定每个复合层的正确厚度，使用Ni-PDMS和MB-PDMS测试各种混合比。 如图3a所示，可以容易地混合的最大和最小密度对于MB-PDMS为0.648g / cm 3，对于Ni-PDMS为1.64g / cm 3 。所有的Biorobot高度被设计成使得任何倾斜角度的biorobot的恢复时刻将足够强以使其回到水平位置。使用三角形来减少流体动力学阻力。最终尺寸如图3d所示。使用计算机脚本，稳定性进行了数值分析，并证明使用两层方法具有很强的恢复力矩， 如图3e所示。见材料表和补充信息n用于所使用的计算机程序。 <img alt="图1" src="/files/ftp_upload/55642/55642fig1.jpg" /> 图1:生物致动器和Biorobot的制造过程流程。每幅图代表了生物执行器和制作机器人制造方案第2节和第3节的材料和方法中的步骤。 PDMS悬臂通过旋涂和激光雕刻制成。然后将悬臂连接到具有用于生物致动器（ a ）的玻璃珠的固定基座或用于biorobot（ b ）的自稳定浮动基座。 <a href="https://ecsource-jove-com.bdigitaluss.remotexs.co/files/ftp_upload/55642/55642fig1large.jpg" target="_blank">请点击此处查看此图的较大版本。</a> <img alt="图2" src="/files/ftp_upload/55642/55642fig2.jpg" /> 图2:尺寸本研究中制造的生物执行器和双子座以及雕刻生物执行器和各种类型的Biorobots的CAD文件。 （ a ）生物执行机构。 （ b ）双臂悬臂混合动力。 （ c ）宽臂式悬臂式手推车。 （ d ）单臂双胞胎。 （ e ）用于激光雕刻的生物致动器的CAD绘图。 （ f ）用于激光雕刻的芭比娃娃的CAD绘图。 <a href="https://ecsource-jove-com.bdigitaluss.remotexs.co/files/ftp_upload/55642/55642fig2large.jpg" target="_blank">请点击此处查看此图的较大版本。</a> <img alt="图3" src="/files/ftp_upload/55642/55642fig3.jpg" /> 图3:Ni-PDMS和MB-PDMS的混合密度和Biorobots的稳定性。 （ a ）混合比例和所得密度。 （ b ）密度和高度与媒体有关的基地。 （ c ）倾斜时的biorobot的旋转和恢复。重心（CG）与浮力中心（CB）之间的偏差产生旋转力矩。这一刻将恢复biorobot或使其进一步倾斜。 （ d ）单臂手枪的尺寸为毫米级。 （ e ）在（b）使用两层（Ni-PDMS和MB-PDMS）与单层（MB-PDMS）的倾斜条件下，对（c）部分所示的单臂双极体模拟恢复力。图表显示，如果倾斜超过45°，单层双面胶条将不会恢复自身，而双层坯布将始终具有正的恢复力，从而保持直立。 <a href="https://ecsource-jove-com.bdigitaluss.remotexs.co/files/ftp_upload/55642/55642fig3large.jpg" target="_blank">请点击此处查看此图的较大版本。</a>

Watch this Scientific Journal Video about Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1 at JoVE.com

Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1

在这篇两部分的研究中，使用高度柔性的聚二甲基硅氧烷（PDMS）悬臂和活肌细胞（心肌细胞）开发了生物致动器，并进行了表征。将生物致动器与由改性PDMS材料制成的基底结合以构建自稳定的游泳制冷机。

心肌肌细胞基致动器和自稳定Biorobot  - 第1部分

Biological machines often referred to as biorobots, are living cell- or tissue-based devices that are powered solely by the contractile activity of living ...

cardiac-muscle-cell-based-actuator-self-stabilizing-biorobot-part

Universidad San Sebastian

Research

JoVE Journal

Bioengineering

8.0K 次观看.  Louisiana State University. 在这篇两部分的研究中，使用高度柔性的聚二甲基硅氧烷（PDMS）悬臂和活肌细胞（心肌细胞）开发了生物致动器，并进行了表征。将生物致动器与由改性PDMS材料制成的基底结合以构建自稳定的游泳制冷机。 

视频: Cardiac Muscle-cell Based Actuator and Self-stabilizing Biorobot - PART 1

An Experimental Platform to Study the Closed-loop Performance of Brain-machine Interfaces

The non-stationary nature and variability of neuronal signals is a fundamental problem in brain-machine interfacing. We developed a brain-machine interface to assess the robustness of different control-laws applied to a closed-loop image stabilization task. Taking advantage of the well-characterized fly visuomotor pathway we record the electrical activity from an identified, motion-sensitive neuron, H1, to control the yaw rotation of a two-wheeled robot. The robot is equipped with 2 high-speed video cameras providing visual motion input to a fly placed in front of 2 CRT computer monitors. The activity of the H1 neuron indicates the direction and relative speed of the robot's rotation. The neural activity is filtered and fed back into the steering system of the robot by means of proportional and proportional/adaptive control. Our goal is to test and optimize the performance of various control laws under closed-loop conditions for a broader application also in other brain machine interfaces.

We use a closed-loop fly-machine interface to investigate general principles in neuronal control.

研究脑机接口的闭环性能的实验平台

The non-stationary nature and variability of neuronal signals is a fundamental problem in brain-machine interfacing. We developed a brain-machine ...

科研

神经科学

Fabrication of Myogenic Engineered Tissue Constructs

Despite the fact that electronic pacemakers are life-saving medical devices, their long-term performance in pediatric patients can be problematic owing to the restrictions imposed by a child's small size and their inevitable growth. Consequently, there is a genuine need for innovative therapies designed specifically for pediatric patients with cardiac rhythm disorders. We propose that a conductive biological alternative consisting of a collagen-based matrix containing autologously-derived cells could better adapt to growth, reduce the need for recurrent surgeries, and greatly improve the quality of life for these patients. In the present study, we describe a procedure for incorporating primary skeletal myoblast cell cultures within a hydrogel matrix to fashion a surgically-implantable tissue construct that will serve as an electrical conduit between the upper and lower chambers of the heart. Ultimately, we anticipate using this type of engineered tissue to restore atrioventricular electrical conduction in children with complete heart block. In view of that, we isolate myoblasts from the skeletal muscles of neonatal Lewis rats and plate them onto laminin-coated tissue culture dishes using a modified version of established protocols[2, 3]. After one to two days, cultured cells are collected and mixed with antibiotics, type 1 collagen, Matrigel&trade;, and NaHCO3. The result is a viscous, uniform solution that can be cast into a mold of nearly any shape and size[1, 4, 5]. For our tissue constructs, we employ type 1 collagen isolated from fetal lamb skin using standard procedures[6]. Once the tissue has solidified at 37&deg;C, culture media is carefully added to the plate until the construct is submerged. The engineered tissue is then allowed to further condense through dehydration for 2 more days, at which point it is ready for in vitro assessment or surgical-implantation.

Here, we demonstrate fabrication of collagen-based, tissue constructs containing skeletal myoblasts. These 3-D engineered constructs may be used to replace or repair tissues in vivo. For our purposes, we have designed these as an atrioventricular electrical conduit for the repair of complete heart block[1].

制作生肌工程的组织结构

Despite the fact that electronic pacemakers are life-saving medical devices, their long-term performance in pediatric patients can be problematic owing to ...

生物学

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

In recent years, soft robotics technologies have aroused increasing interest in the medical field due to their intrinsically safe interaction in unstructured environments. At the same time, new procedures and techniques have been developed to reduce the invasiveness of surgical operations. Minimally Invasive Surgery (MIS) has been successfully employed for abdominal interventions, however standard MIS procedures are mainly based on rigid or semi-rigid tools that limit the dexterity of the clinician. This paper presents a soft and high dexterous manipulator for MIS. The manipulator was inspired by the biological capabilities of the octopus arm, and is designed with a modular approach. Each module presents the same functional characteristics, thus achieving high dexterity and versatility when more modules are integrated. The paper details the design, fabrication process and the materials necessary for the development of a single unit, which is fabricated by casting silicone inside specific molds. The result consists in an elastomeric cylinder including three flexible pneumatic actuators that enable elongation and omni-directional bending of the unit. An external braided sheath improves the motion of the module. In the center of each module a granular jamming-based mechanism varies the stiffness of the structure during the tasks. Tests demonstrate that the module is able to bend up to 120&#176; and to elongate up to 66% of the initial length. The module generates a maximum force of 47 N, and its stiffness can increase up to 36%.

This paper describes the design and fabrication of a soft unit for surgical manipulators. The base module includes three flexible fluidic actuators to achieve omnidirectional bending and elongation, and a granular jamming-based mechanism to enable stiffness control. A complete mechanical characterization is also reported.

设计和弹性股软模块化机器人微创手术制造

In recent years, soft robotics technologies have aroused increasing interest in the medical field due to their intrinsically safe interaction in ...

生物工程

Fabrication of Carbon-Based Ionic Electromechanically Active Soft Actuators

Ionic electromechanically active capacitive laminates are a type of smart material that move in response to electrical stimulation. Due to the soft, compliant and biomimetic nature of this deformation, actuators made of the laminate have received increasing interest in soft robotics and (bio)medical applications. However, methods to easily fabricate the active material in large (even industrial) quantities and with a high batch-to-batch and within-batch repeatability are needed to transfer the knowledge from laboratory to industry. This protocol describes a simple, industrially scalable and reproducible method for the fabrication of ionic carbon-based electromechanically active capacitive laminates and the preparation of actuators made thereof. The inclusion of a passive and chemically inert (insoluble) middle layer (e.g., a textile-reinforced polymer network or microporous Teflon) distinguishes the method from others. The protocol is divided into five steps: membrane preparation, electrode preparation, current collector attachment, cutting and shaping, and actuation. Following the protocol results in an active material that can, for example, compliantly grasp and hold a randomly shaped object as demonstrated in the article.

This article describes a fast and simple manufacturing process of ionic electromechanically active composite materials for actuators in biomedical, biomimetic and soft robotics applications. The key fabrication steps, their importance for the actuators&#39; final properties, and some of the main characterization techniques are described in detail.

碳基离子机电活性软执行器的制造

Ionic electromechanically active capacitive laminates are a type of smart material that move in response to electrical stimulation. Due to the soft, ...

工程学

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with slopes of up to 84&#176;. The manufacturing method is valid for the fast pneunet bending actuators in general and might, therefore, be interesting for newcomers to the field of actuator manufacturing. The control of the robot is achieved by means of a pneumatic control box that can provide arbitrary pressures and can be built by only using purchased components, a laser cutter, and a soldering iron. For the walking performance of the robot, the pressure-angle calibration plays a crucial role. Therefore, a semi-automated method for the pressure-angle calibration is presented. At high inclines (&#62; 70&#176;), the robot can no longer reliably fix itself to the walking plane. Therefore, the gait pattern is modified to ensure that the feet can be fixed on the walking plane.

This protocol provides a detailed list of steps to be performed for the manufacturing, control and evaluation of the climbing performance of a gecko-inspired soft robot.

壁虎灵感软机器人的制造、控制和性能评估

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with ...

Cardiac Muscle Cell-based Actuator and Self-stabilizing Biorobot - Part 2

In recent years, hybrid devices that consist of a living cell or tissue component integrated with a synthetic mechanical backbone have been developed. These devices, called biorobots, are powered solely by the force generated from the contractile activity of the living component and, due to their many inherent advantages, could be an alternative to conventional fully artificial robots. Here, we describe the methods to seed and characterize a biological actuator and a biorobot that was designed, fabricated, and functionalized in the first part of this two-part article. Fabricated biological actuator and biorobot devices composed of a polydimethylsiloxane (PDMS) base and a thin film cantilever were functionalized for cell attachment with fibronectin. Following functionalization, neonatal rat cardiomyocytes were seeded onto the PDMS cantilever arm at a high density, resulting in a confluent cell sheet. The devices were imaged every day and the movement of the cantilever arms was analyzed. On the second day after seeding, we observed the bending of the cantilever arms due to the forces exerted by the cells during spontaneous contractions. Upon quantitative analysis of the cantilever bending, a gradual increase in the surface stress exerted by the cells as they matured over time was observed. Likewise, we observed movement of the biorobot due to the actuation of the PDMS cantilever arm, which acted as a fin. Upon quantification of the swimming profiles of the devices, various propulsion modes were observed, which were influenced by the resting angle of the fin. The direction of motion and the beating frequency were also determined by the resting angle of the fin, and a maximum swim velocity of 142 &#181;m/s was observed. In this manuscript, we describe the procedure for populating the fabricated devices with cardiomyocytes, as well as for the assessment of the biological actuator and biorobot activity.

In this study, a biological actuator and a self-stabilizing, swimming biorobot with functionalized elastomeric cantilever arms are seeded with cardiomyocytes, cultured, and characterized for their biochemical and biomechanical properties over time.

心肌肌细胞基致动器和自稳定Biorobot  - 第2部分

In recent years, hybrid devices that consist of a living cell or tissue component integrated with a synthetic mechanical backbone have been developed. ...

通过增强抓握和手指恢复来彻底改变中风康复

A Flexible Wearable Supernumerary Robotic Limb for Chronic Stroke Patients

In this study, we present a flexible wearable supernumerary robotic limb that helps chronic stroke patients with finger rehabilitation and grasping movements. The design of this innovative limb draws inspiration from bending pneumatic muscles and the unique characteristics of an elephant's trunk tip. It places a strong emphasis on crucial factors such as lightweight construction, safety, compliance, waterproofing, and achieving a high output-to-weight/pressure ratio. The proposed structure enables the robotic limb to perform both envelope and fingertip grasping. Human-robot interaction is facilitated through a flexible bending sensor, detecting the wearer's finger movements and connecting them to motion control via a threshold segmentation method. Additionally, the system is portable for versatile daily use. To validate the effectiveness of this innovation, real-world experiments involving six chronic stroke patients and three healthy volunteers were conducted. The feedback received through questionnaires indicates that the designed mechanism holds immense promise in assisting chronic stroke patients with their daily grasping activities, potentially improving their quality of life and rehabilitation outcomes.

作者聚焦：使用灵活的机器人肢体增强偏瘫患者的抓握能力 

This protocol introduces a flexible wearable supernumerary robotic limb tailored to assist in finger rehabilitation for stroke patients. The design incorporates a bending sensor to facilitate seamless human-robot interaction. Validation through experiments involving both healthy volunteers and stroke patients underscores the efficacy and dependability of the proposed study.

一种用于慢性脑卒中患者的柔性可穿戴编外机器人肢体

In this study, we present a flexible wearable supernumerary robotic limb that helps chronic stroke patients with finger rehabilitation and grasping ...

Simultaneous Electrical and Mechanical Stimulation to Enhance Cells' Cardiomyogenic Potential

Cardiovascular diseases are the leading cause of death in developed countries. Consequently, the demand for effective cardiac cell therapies has motivated researchers in the stem cell and bioengineering fields to develop in vitro high-fidelity human myocardium for both basic research and clinical applications. However, the immature phenotype of cardiac cells is a limitation on obtaining tissues that functionally mimic the adult myocardium, which is mainly characterized by mechanical and electrical signals. Thus, the purpose of this protocol is to prepare and mature the target cell population through electromechanical stimulation, recapitulating physiological parameters. Cardiac tissue engineering is evolving toward more biological approaches, and strategies based on biophysical stimuli, thus, are gaining momentum. The device developed for this purpose is unique and allows individual or simultaneous electrical and mechanical stimulation, carefully characterized and validated. In addition, although the methodology has been optimized for this stimulator and a specific cell population, it can easily be adapted to other devices and cell lines. The results here offer evidence of the increased cardiac commitment of the cell population after electromechanical stimulation. Electromechanically stimulated cells show an increased expression of main cardiac markers, including early, structural, and calcium-regulating genes. This cell conditioning could be useful for further regenerative cell therapy, disease modeling, and high-throughput drug screening.

Here we present a protocol for training a cell population using electrical and mechanical stimuli emulating cardiac physiology. This electromechanical stimulation enhances the cardiomyogenic potential of the treated cells and is a promising strategy for further cell therapy, disease modeling, and drug screening.

同时进行机电刺激增强细胞心肌成功能的潜能

Cardiovascular diseases are the leading cause of death in developed countries. Consequently, the demand for effective cardiac cell therapies has motivated ...

心肌肌细胞基致动器和自稳定Biorobot - 第1部分

摘要

探索更多视频

此视频中的章节

研究脑机接口的闭环性能的实验平台

制作生肌工程的组织结构

设计和弹性股软模块化机器人微创手术制造

碳基离子机电活性软执行器的制造

壁虎灵感软机器人的制造、控制和性能评估

心肌肌细胞基致动器和自稳定Biorobot - 第2部分

一种用于慢性脑卒中患者的柔性可穿戴编外机器人肢体

一种用于慢性脑卒中患者的柔性可穿戴编外机器人肢体

一种用于慢性脑卒中患者的柔性可穿戴编外机器人肢体

同时进行机电刺激增强细胞心肌成功能的潜能