Showing papers in "Bioinspiration & Biomimetics in 2016"

Fish-inspired robots: design, sensing, actuation, and autonomy--a review of research.

Abstract: Underwater robot designs inspired by the behavior, physiology, and anatomy of fishes can provide enhanced maneuverability, stealth, and energy efficiency. Over the last two decades, robotics researchers have developed and reported a large variety of fish-inspired robot designs. The purpose of this review is to report different types of fish-inspired robot designs based upon their intended locomotion patterns. We present a detailed comparison of various design features like sensing, actuation, autonomy, waterproofing, and morphological structure of fish-inspired robots reported in the past decade. We believe that by studying the existing robots, future designers will be able to create new designs by adopting features from the successful robots. The review also summarizes the open research issues that need to be taken up for the further advancement of the field and also for the deployment of fish-inspired robots in practice.

Softworms: the design and control of non-pneumatic, 3D-printed, deformable robots.

Abstract: Robots that can easily interact with humans and move through natural environments are becoming increasingly essential as assistive devices in the home, office and hospital. These machines need to be safe, effective, and easy to control. One strategy towards accomplishing these goals is to build the robots using soft and flexible materials to make them much more approachable and less likely to damage their environment. A major challenge is that comparatively little is known about how best to design, fabricate and control deformable machines. Here we describe the design, fabrication and control of a novel soft robotic platform (Softworms) as a modular device for research, education and public outreach. These robots are inspired by recent neuromechanical studies of crawling and climbing by larval moths and butterflies (Lepidoptera, caterpillars). Unlike most soft robots currently under development, the Softworms do not rely on pneumatic or fluidic actuators but are electrically powered and actuated using either shape-memory alloy microcoils or motor tendons, and they can be modified to accept other muscle-like actuators such as electroactive polymers. The technology is extremely versatile, and different designs can be quickly and cheaply fabricated by casting elastomeric polymers or by direct 3D printing. Softworms can crawl, inch or roll, and they are steerable and even climb steep inclines. Softworms can be made in any shape but here we describe modular and monolithic designs requiring little assembly. These modules can be combined to make multi-limbed devices. We also describe two approaches for controlling such highly deformable structures using either model-free state transition-reward matrices or distributed, mechanically coupled oscillators. In addition to their value as a research platform, these robots can be developed for use in environmental, medical and space applications where cheap, lightweight and shape-changing deformable robots will provide new performance capabilities.

Hierarchical bioinspired adhesive surfaces-a review.

Abstract: The extraordinary adherence and climbing agility of geckos on rough surfaces has been attributed to the multiscale hierarchical structures on their feet. Hundreds of thousands of elastic hairs called setae, each of which split into several spatulae, create a large number of contact points that generate substantial adhesion through van der Waals interactions. The hierarchical architecture provides increased structural compliance on surfaces with roughness features ranging from micrometers to millimeters. We review synthetic adhesion surfaces that mimic the naturally occurring hierarchy with an emphasis on microfabrication strategies, material choice and the adhesive performance achieved.

Human-like compliant locomotion: state of the art of robotic implementations.

Abstract: This review paper provides a synthetic yet critical overview of the key biomechanical principles of human bipedal walking and their current implementation in robotic platforms. We describe the functional role of human joints, addressing in particular the relevance of the compliant properties of the different degrees of freedom throughout the gait cycle. We focused on three basic functional units involved in locomotion, i.e. the ankle-foot complex, the knee, and the hip-pelvis complex, and their relevance to whole-body performance. We present an extensive review of the current implementations of these mechanisms into robotic platforms, discussing their potentialities and limitations from the functional and energetic perspectives. We specifically targeted humanoid robots, but also revised evidence from the field of lower-limb prosthetics, which presents innovative solutions still unexploited in the current humanoids. Finally, we identified the main critical aspects of the process of translating human principles into actual machines, providing a number of relevant challenges that should be addressed in future research.

Plant-inspired adaptive structures and materials for morphing and actuation: a review

Abstract: Plants exhibit a variety of reversible motions, from the slow opening of pine cones to the impulsive closing of Venus flytrap leaves. These motions are achieved without muscles and they have inspired a wide spectrum of engineered materials and structures. This review summarizes the recent developments of plant-inspired adaptive structures and materials for morphing and actuation. We begin with a brief overview of the actuation strategies and physiological features associated to these plant movements, showing that different combinations of these strategies and features can lead to motions with different deformation characteristics and response speeds. Then we offer a comprehensive survey of the plant-inspired morphing and actuation systems, including pressurized cellular structures, osmotic actuation, anisotropic hygroscopic materials, and bistable systems for rapid movements. Although these engineered systems are vastly different in terms of their size scales and intended applications, their working principles are all related to the actuation strategies and physiological features in plants. This review is to promote future cross-disciplinary studies between plant biology and engineering, which can foster new solutions for many applications such as morphing airframes, soft robotics and kinetic architectures.

RoboFish: increased acceptance of interactive robotic fish with realistic eyes and natural motion patterns by live Trinidadian guppies

Abstract: In recent years, simple biomimetic robots have been increasingly used in biological studies to investigate social behavior, for example collective movement. Nevertheless, a big challenge in developing biomimetic robots is the acceptance of the robotic agents by live animals. In this contribution, we describe our recent advances with regard to the acceptance of our biomimetic RoboFish by live Trinidadian guppies (Poecilia reticulata). We provide a detailed technical description of the RoboFish system and show the effect of different appearance, motion patterns and interaction modes on the acceptance of the artificial fish replica. Our results indicate that realistic eye dummies along with natural motion patterns significantly improve the acceptance level of the RoboFish. Through the interactive behaviors, our system can be adjusted to imitate different individual characteristics of live animals, which further increases the bandwidth of possible applications of our RoboFish for the study of animal behavior.

Turtle mimetic soft robot with two swimming gaits.

Abstract: This paper presents a biomimetic turtle flipper actuator consisting of a shape memory alloy composite structure for implementation in a turtle-inspired autonomous underwater vehicle. Based on the analysis of the Chelonia mydas, the flipper actuator was divided into three segments containing a scaffold structure fabricated using a 3D printer. According to the filament stacking sequence of the scaffold structure in the actuator, different actuating motions can be realized and three different types of scaffold structures were proposed to replicate the motion of the different segments of the flipper of the Chelonia mydas. This flipper actuator can mimic the continuous deformation of the forelimb of Chelonia mydas which could not be realized in previous motor based robot. This actuator can also produce two distinct motions that correspond to the two different swimming gaits of the Chelonia mydas, which are the routine and vigorous swimming gaits, by changing the applied current sequence of the SMA wires embedded in the flipper actuator. The generated thrust and the swimming efficiency in each swimming gait of the flipper actuator were measured and the results show that the vigorous gait has a higher thrust but a relatively lower swimming efficiency than the routine gait. The flipper actuator was implemented in a biomimetic turtle robot, and its average swimming speed in the routine and vigorous gaits were measured with the vigorous gait being capable of reaching a maximum speed of 11.5 mm s−1.

A new biarticular actuator design facilitates control of leg function in BioBiped3.

Abstract: Bioinspired legged locomotion comprises different aspects, such as (i) benefiting from reduced complexity control approaches as observed in humans/animals, (ii) combining embodiment with the controllers and (iii) reflecting neural control mechanisms. One of the most important lessons learned from nature is the significant role of compliance in simplifying control, enhancing energy efficiency and robustness against perturbations for legged locomotion. In this research, we investigate how body morphology in combination with actuator design may facilitate motor control of leg function. Inspired by the human leg muscular system, we show that biarticular muscles have a key role in balancing the upper body, joint coordination and swing leg control. Appropriate adjustment of biarticular spring rest length and stiffness can simplify the control and also reduce energy consumption. In order to test these findings, the BioBiped3 robot was developed as a new version of BioBiped series of biologically inspired, compliant musculoskeletal robots. In this robot, three-segmented legs actuated by mono- and biarticular series elastic actuators mimic the nine major human leg muscle groups. With the new biarticular actuators in BioBiped3, novel simplified control concepts for postural balance and for joint coordination in rebounding movements (drop jumps) were demonstrated and approved.

Biomimetic cellular metals—using hierarchical structuring for energy absorption

Abstract: Fruit walls as well as nut and seed shells typically perform a multitude of functions. One of the biologically most important functions consists in the direct or indirect protection of the seeds from mechanical damage or other negative environmental influences. This qualifies such biological structures as role models for the development of new materials and components that protect commodities and/or persons from damage caused for example by impacts due to rough handling or crashes. We were able to show how the mechanical properties of metal foam based components can be improved by altering their structure on various hierarchical levels inspired by features and principles important for the impact and/or puncture resistance of the biological role models, rather than by tuning the properties of the bulk material. For this various investigation methods have been established which combine mechanical testing with different imaging methods, as well as with in situ and ex situ mechanical testing methods. Different structural hierarchies especially important for the mechanical deformation and failure behaviour of the biological role models, pomelo fruit (Citrus maxima) and Macadamia integrifolia, were identified. They were abstracted and transferred into corresponding structural principles and thus hierarchically structured bio-inspired metal foams have been designed. A production route for metal based bio-inspired structures by investment casting was successfully established. This allows the production of complex and reliable structures, by implementing and combining different hierarchical structural elements found in the biological concept generators, such as strut design and integration of fibres, as well as by minimising casting defects. To evaluate the structural effects, similar investigation methods and mechanical tests were applied to both the biological role models and the metallic foams. As a result an even deeper quantitative understanding of the form-structure-function relationship of the biological concept generators as well as the bio-inspired metal foams was achieved, on deeper hierarchical levels and overarching different levels.

Stretch-and-release fabrication, testing and optimization of a flexible ceramic armor inspired from fish scales

Abstract: Protective systems that are simultaneously hard to puncture and compliant in flexion are desirable, but difficult to achieve because hard materials are usually stiff. However, we can overcome this conflicting design requirement by combining plates of a hard material with a softer substrate, and a strategy which is widely found in natural armors such as fish scales or osteoderms. Man-made segmented armors have a long history, but their systematic implementation in a modern and a protective system is still hampered by a limited understanding of the mechanics and the design of optimization guidelines, and by challenges in cost-efficient manufacturing. This study addresses these limitations with a flexible bioinspired armor based on overlapping ceramic scales. The fabrication combines laser engraving and a stretch-and-release method which allows for fine tuning of the size and overlap of the scales, and which is suitable for large scale fabrication. Compared to a continuous layer of uniform ceramic, our fish-scale like armor is not only more flexible, but it is also more resistant to puncture and more damage tolerant. The proposed armor is also about ten times more puncture resistant than soft elastomers, making it a very attractive alternative to traditional protective equipment.

A starfish robot based on soft and smart modular structure (SMS) actuated by SMA wires.

Abstract: This paper describes the design, fabrication and locomotion of a starfish robot whose locomotion principle is derived from a starfish. The starfish robot has a number of tentacles or arms extending from its central body in the form of a disk, like the topology of a real starfish. The arm, which is a soft and composite structure (which we call the smart modular structure (SMS)) generating a planar reciprocal motion with a high speed of response upon the actuation provided by the shape memory alloy (SMA) wires, is fabricated from soft and smart materials. Based on the variation in the resistance of the SMA wires during their heating, an adaptive regulation (AR) heating strategy is proposed to (i) avoid overheating of the SMA wires, (ii) provide bending range control and (iii) achieve a high speed of response favorable to successfully propelling the starfish robot. Using a finite-segment method, a thermal dynamic model of the SMS is established to describe its thermal behavior under the AR and a constant heating strategy. A starfish robot with five SMS tentacles was tested with different control parameters to optimize its locomotion speed. As demonstrated in the accompanying video file, the robot successfully propelled in semi-submerged and underwater environments show its locomotion ability in the multi-media, like a real starfish. The propulsion speed of the starfish robot is at least an order of magnitude higher than that of those reported in the literature-thanks to the SMS controlled with the AR strategy.

A quasi-steady aerodynamic model for flapping flight with improved adaptability.

Abstract: An improved quasi-steady aerodynamic model for flapping wings in hover has been developed. The purpose of this model is to yield rapid predictions of lift generation and efficiency during the design phase of flapping wing micro air vehicles. While most existing models are tailored for a specific flow condition, the present model is applicable over a wider range of Reynolds number and Rossby number. The effects of wing aspect ratio and taper ratio are also considered. The model was validated by comparing against numerical simulations and experimental measurements. Wings with different geometries undergoing distinct kinematics at varying flow conditions were tested during validation. Generally, model predictions of mean force coefficients were within 10% of numerical simulation results, while the deviations in power coefficients could be up to 15%. The deviation is partly due to the model not taking into consideration the initial shedding of the leading-edge vortex and wing-wake interaction which are difficult to account under quasi-steady assumption. The accuracy of this model is comparable to other models in literature, which had to be specifically designed or tuned to a narrow range of operation. In contrast, the present model has the advantage of being applicable over a wider range of flow conditions without prior tuning or calibration, which makes it a useful tool for preliminary performance evaluations.

A plant-inspired robot with soft differential bending capabilities

Abstract: We present the design and development of a plant-inspired robot, named Plantoid, with sensorized robotic roots. Natural roots have a multi-sensing capability and show a soft bending behaviour to follow or escape from various environmental parameters (i.e., tropisms). Analogously, we implement soft bending capabilities in our robotic roots by designing and integrating soft spring-based actuation (SSBA) systems using helical springs to transmit the motor power in a compliant manner. Each robotic tip integrates four different sensors, including customised flexible touch and innovative humidity sensors together with commercial gravity and temperature sensors. We show how the embedded sensing capabilities together with a root-inspired control algorithm lead to the implementation of tropic behaviours. Future applications for such plant-inspired technologies include soil monitoring and exploration, useful for agriculture and environmental fields.

Aspect ratio effects on revolving wings with Rossby number consideration

Abstract: Numerical simulations have been conducted to investigate the effect of aspect ratio (AR) on the mean lift generation of a revolving flat rectangular wing. The purpose of the study is to address some discrepancies reported in the literature regarding the influence of AR on mean lift coefficient. Here, we consider a range of AR from 1 to 10 and Rossby number (Ro) from 0.58 to 7.57, and our results show that different degrees of coupling between AR and Ro yield different trends of a mean lift coefficient with respect to increasing AR. The choice of reference velocity for the normalisation of mean lift forces also has a significant effect on the perceived AR effect. By isolating the effect of Ro, we found that higher AR produces higher mean lift coefficient until it plateaus at a sufficiently high AR. This finding is consistent with conventional fixed wing aerodynamics. Additionally, our results show that increasing AR reduces the three-dimensional wing tip effect and is beneficial to mean lift generation while higher Ro increases leading-edge vortex instability, which is detrimental to mean lift generation. Therefore, mean lift generation on revolving wings is dictated by the competition between these two factors, which represent two fundamentally independent phenomena.

Zebrafish response to 3D printed shoals of conspecifics: the effect of body size.

Abstract: Recent progress in three-dimensional (3D) printing technology has enabled rapid prototyping of complex models at a limited cost. Virtually every research laboratory has access to a 3D printer, which can assist in the design and implementation of hypothesis-driven studies on animal behavior. In this study, we explore the possibility of using 3D printing technology to understand the role of body size in the social behavior of the zebrafish model organism. In a dichotomous preference test, we study the behavioral response of zebrafish to shoals of 3D printed replicas of varying size. We systematically vary the size of each replica without altering the coloration, aspect ratio, and stripe patterns, which are all selected to closely mimic zebrafish morphophysiology. The replicas are actuated through a robotic manipulator, mimicking the natural motion of live subjects. Zebrafish preference is assessed by scoring the time spent in the vicinity of the shoal of replicas, and the information theoretic construct of transfer entropy is used to further elucidate the influence of the replicas on zebrafish motion. Our results demonstrate that zebrafish adjust their behavior in response to variations in the size of the replicas. Subjects exhibit an avoidance reaction for larger replicas, and they are attracted toward and influenced by smaller replicas. The approach presented in this study, integrating 3D printing technology, robotics, and information theory, is expected to significantly aid preclinical research on zebrafish behavior.

Hydrodynamics of a robotic fish tail: effects of the caudal peduncle, fin ray motions and the flow speed.

Abstract: Recent advances in understanding fish locomotion with robotic devices have included the use of biomimetic flapping based and fin undulatory locomotion based robots, treating two locomotions separately from each other. However, in most fish species, patterns of active movements of fins occur in concert with the body undulatory deformation during swimming. In this paper, we describe a biomimetic robotic caudal fin programmed with individually actuated fin rays to mimic the fin motion of the Bluegill Sunfish (Lepomis macrochirus) and coupled with heave and pitch oscillatory motions adding to the robot to mimic the peduncle motion which is derived from the undulatory fish body. Multiple-axis force and digital particle image velocimetry (DPIV) experiments from both the vertical and horizontal planes behind the robotic model were conducted under different motion programs and flow speeds. We found that both mean thrust and lift could be altered by changing the phase difference (φ) from 0° to 360° between the robotic caudal peduncle and the fin ray motion (spanning from 3 mN to 124 mN). Notably, DPIV results demonstrated that the caudal fin generated multiple wake flow patterns in both the vertical and horizontal planes by varying φ. Vortex jet angle and thrust impulse also varied significantly both in these two planes. In addition, the vortex shedding position along the spanwise tail direction could be shifted around the mid-sagittal position between the upper and lower lobes by changing the phase difference. We hypothesize that the fish caudal fin may serve as a flexible vectoring propeller during swimming and may be critical for the high maneuverability of fish.

Recent advances in superhydrophobic surfaces and their relevance to biology and medicine

Abstract: By mimicking naturally occurring superhydrophobic surfaces, scientists can now realize artificial surfaces on which droplets of a few microliters of water are forced to assume an almost spherical shape and an extremely high contact angle. In recent decades, these surfaces have attracted much attention due to their technological applications for anti-wetting and self-cleaning materials. Very recently, researchers have shifted their interest to investigate whether superhydrophobic surfaces can be exploited to study biological systems. This research effort has stimulated the design and realization of new devices that allow us to actively organize, visualize and manipulate matter at both the microscale and nanoscale levels. Such precise control opens up wide applications in biomedicine, as it allows us to directly manipulate objects at the typical length scale of cells and macromolecules. This progress report focuses on recent biological and medical applications of superhydrophobicity. Particular regard is paid to those applications that involve the detection, manipulation and study of extremely small quantities of molecules, and to those that allow high throughput cell and biomaterial screening.

Monocular distance estimation with optical flow maneuvers and efference copies: a stability-based strategy

Abstract: The visual cue of optical flow plays an important role in the navigation of flying insects, and is increasingly studied for use by small flying robots as well. A major problem is that successful optical flow control seems to require distance estimates, while optical flow is known to provide only the ratio of velocity to distance. In this article, a novel, stability-based strategy is proposed for monocular distance estimation, relying on optical flow maneuvers and knowledge of the control inputs (efference copies). It is shown analytically that given a fixed control gain, the stability of a constant divergence control loop only depends on the distance to the approached surface. At close distances, the control loop starts to exhibit self-induced oscillations. The robot can detect these oscillations and hence be aware of the distance to the surface. The proposed stability-based strategy for estimating distances has two main attractive characteristics. First, self-induced oscillations can be detected robustly by the robot and are hardly influenced by wind. Second, the distance can be estimated during a zero divergence maneuver, i.e., around hover. The stability-based strategy is implemented and tested both in simulation and on board a Parrot AR drone 2.0. It is shown that the strategy can be used to: (1) trigger a final approach response during a constant divergence landing with fixed gain, (2) estimate the distance in hover, and (3) estimate distances during an entire landing if the robot uses adaptive gain control to continuously stay on the 'edge of oscillation.'

Microstructures of superhydrophobic plant leaves - inspiration for efficient oil spill cleanup materials

Abstract: The cleanup of accidental oil spills in water is an enormous challenge; conventional oil sorbents absorb large amounts of water in addition to oil and other cleanup methods can cause secondary pollution. In contrast, fresh leaves of the aquatic ferns Salvinia are superhydrophobic and superoleophilic, and can selectively absorb oil while repelling water. These selective wetting properties are optimal for natural oil absorbent applications and bioinspired oil sorbent materials. In this paper we quantify the oil absorption capacity of four Salvinia species with different surface structures, water lettuce (Pistia stratiotes) and Lotus leaves (Nelumbo nucifera), and compare their absorption capacity to artificial oil sorbents. Interestingly, the oil absorption capacities of Salvinia molesta and Pistia stratiotes leaves are comparable to artificial oil sorbents. Therefore, these pantropical invasive plants, often considered pests, qualify as environmentally friendly materials for oil spill cleanup. Furthermore, we investigated the influence of oil density and viscosity on the oil absorption, and examine how the presence and morphology of trichomes affect the amount of oil absorbed by their surfaces. Specifically, the influence of hair length and shape is analyzed by comparing different hair types ranging from single trichomes of Salvinia cucullata to complex eggbeater-shaped trichomes of Salvinia molesta to establish a basis for improving artificial bioinspired oil absorbents.

Buckling prevention strategies in nature as inspiration for improving percutaneous instruments: a review.

Abstract: A typical mechanical failure mode observed in slender percutaneous instruments, such as needles and guidewires, is buckling. Buckling is observed when the axial compressive force that is required to penetrate certain tissue types exceeds the critical load of the instrument and manifests itself by sudden lateral deflection of the instrument. In nature, several organisms are able to penetrate substrates without buckling while using apparatuses with diameters smaller than those of off-the-shelf available percutaneous needles and guidewires. In this study we reviewed the apparatuses and buckling prevention strategies employed by biological organisms to penetrate substrates such as wood and skin. A subdivision is made between buckling prevention strategies that focus on increasing the critical load of the penetration tool and strategies that focus on decreasing the penetration load of the substrate. In total, 28 buckling prevention strategies were identified and categorized. Most organisms appear to be using a combination of buckling prevention strategies simultaneously. Integration and combination of these biological buckling prevention strategies in percutaneous instruments may contribute to increasing the success rate of percutaneous interventions.

Bio-inspired flexible joints with passive feathering for robotic fish pectoral fins.

Abstract: In this paper a novel flexible joint is proposed for robotic fish pectoral fins, which enables a swimming behavior emulating the fin motions of many aquatic animals. In particular, the pectoral fin operates primarily in the rowing mode, while undergoing passive feathering during the recovery stroke to reduce hydrodynamic drag on the fin. The latter enables effective locomotion even with symmetric base actuation during power and recovery strokes. A dynamic model is developed to facilitate the understanding and design of the joint, where blade element theory is used to calculate the hydrodynamic forces on the pectoral fins, and the joint is modeled as a paired torsion spring and damper. Experimental results on a robotic fish prototype are presented to illustrate the effectiveness of the joint mechanism, validate the proposed model, and indicate the utility of the proposed model for the optimal design of joint depth and stiffness in achieving the trade-off between swimming speed and mechanical efficiency.

Single actuator wave-like robot (SAW): design, modeling, and experiments

Abstract: In this paper, we present a single actuator wave-like robot, a novel bioinspired robot which can move forward or backward by producing a continuously advancing wave. The robot has a unique minimalistic mechanical design and produces an advancing sine wave, with a large amplitude, using only a single motor but with no internal straight spine. Over horizontal surfaces, the robot does not slide relative to the surface and its direction of locomotion is determined by the direction of rotation of the motor. We developed a kinematic model of the robot that accounts for the two-dimensional mechanics of motion and yields the speed of the links relative to the motor. Based on the optimization of the kinematic model, and accounting for the mechanical constraints, we have designed and built multiple versions of the robot with different sizes and experimentally tested them (see movie). The experimental results were within a few percentages of the expectations. The larger version attained a top speed of 57 cm s(-1) over a horizontal surface and is capable of climbing vertically when placed between two walls. By optimizing the parameters, we succeeded in making the robot travel by 13% faster than its own wave speed.

Improving actuation efficiency through variable recruitment hydraulic McKibben muscles: modeling, orderly recruitment control, and experiments

Abstract: Hydraulic control systems have become increasingly popular as the means of actuation for human-scale legged robots and assistive devices. One of the biggest limitations to these systems is their run time untethered from a power source. One way to increase endurance is by improving actuation efficiency. We investigate reducing servovalve throttling losses by using a selective recruitment artificial muscle bundle comprised of three motor units. Each motor unit is made up of a pair of hydraulic McKibben muscles connected to one servovalve. The pressure and recruitment state of the artificial muscle bundle can be adjusted to match the load in an efficient manner, much like the firing rate and total number of recruited motor units is adjusted in skeletal muscle. A volume-based effective initial braid angle is used in the model of each recruitment level. This semi-empirical model is utilized to predict the efficiency gains of the proposed variable recruitment actuation scheme versus a throttling-only approach. A real-time orderly recruitment controller with pressure-based thresholds is developed. This controller is used to experimentally validate the model-predicted efficiency gains of recruitment on a robot arm. The results show that utilizing variable recruitment allows for much higher efficiencies over a broader operating envelope.

Self-propelled swimming of a flexible plunging foil near a solid wall.

Abstract: Numerical simulations are conducted to investigate the influences of a solid wall on the self-propelled swimming of a flexible plunging foil. It is found that the presence of a solid wall enhances the cruising speed, with the cost of increasing input power. Rigid foil can achieve high percentage increase in cruising speed when swimming near a solid wall, but the propulsive efficiency may be reduced. Foils with some flexibility can enjoy the enhancements in both cruising speed and propulsive efficiency. Another advantage of the flexible foils in near-wall swimming is that smaller averaged lateral forces are produced. The effects of wall confinement on the wake structure and the vortex dynamics are also studied in this paper. The results obtained in this study shed some light on the unsteady wall effect experienced by aquatic animals and also inform the design of bio-mimetic underwater vehicles which are capable of exploiting the wall effect.

Functional adaptation of crustacean exoskeletal elements through structural and compositional diversity: a combined experimental and theoretical study

Abstract: The crustacean cuticle is a composite material that covers the whole animal and forms the continuous exoskeleton. Nano-fibers composed of chitin and protein molecules form most of the organic matrix of the cuticle that, at the macroscale, is organized in up to eight hierarchical levels. At least two of them, the exo- and endocuticle, contain a mineral phase of mainly Mg-calcite, amorphous calcium carbonate and phosphate. The high number of hierarchical levels and the compositional diversity provide a high degree of freedom for varying the physical, in particular mechanical, properties of the material. This makes the cuticle a versatile material ideally suited to form a variety of skeletal elements that are adapted to different functions and the eco-physiological strains of individual species. This review presents our recent analytical, experimental and theoretical studies on the cuticle, summarising at which hierarchical levels structure and composition are modified to achieve the required physical properties. We describe our multi-scale hierarchical modeling approach based on the results from these studies, aiming at systematically predicting the structure-composition-property relations of cuticle composites from the molecular level to the macro-scale. This modeling approach provides a tool to facilitate the development of optimized biomimetic materials within a knowledge-based design approach.

Nanoscale friction and adhesion of tree frog toe pads

Abstract: Tree frogs have become an object of interest in biomimetics due to their ability to cling to wet and slippery surfaces. In this study, we have investigated the adhesion and friction behavior of toe pads of White's tree frog (Litoria caerulea) using atomic force microscopy (AFM) in an aqueous medium. Facilitating special types of AFM probes with radii of ∼400 nm and ∼13 μm, we were able to sense the frictional response without damaging the delicate nanopillar structures of the epithelial cells. While we observed no significant adhesion between both types of probes and toe pads in wet conditions, frictional forces under such conditions were very pronounced and friction coefficients amounted between 0.3 and 1.1 for the sliding friction between probes and the epithelial cell surfaces.

Enhancement of finger motion range with compliant anthropomorphic joint design

Abstract: Robotic researchers have been greatly inspired by the human hand in the search to design and build adaptive robotic hands. Especially, joints have received a lot of attention upon their role in maintaining the passive compliance that gives the fingers flexibility and extendible motion ranges. Passive compliance, which is the tendency to be employed in motion under the influence of an external force, is the result of the stiffness and the geometrical constraints of the joints that define the direction of the motion. Based on its building elements, human finger joints have multi-directional passive compliance which means that they can move in multiple axis of motion under external force. However, due to their complex anatomy, only simplified biomechanical designs based on physiological analysis are preferred in present day robotics. To imitate the human joints, these designs either use fixed degree of freedom mechanisms which substantially limit the motion axes of compliance, or soft materials that can deform in many directions but hinder the fingers' force exertion capacities. In order to find a solution that lies between these two design approaches, we are using anatomically correct finger bones, elastic ligaments and antagonistic tendons to build anthropomorphic joints with multi-directional passive compliance and strong force exertion capabilities. We use interactions between an index finger and a thumb to show that our joints allow the extension of the range of motion of the fingers up to 245% and gripping size to 63% which can be beneficial for mechanical adaptation in gripping larger objects.

Optimal chordwise stiffness profiles of self-propelled flapping fins.

Abstract: The versatility of fish to adapt to different swimming requirements is attributed to their complex muscular system. Fish modulate their fin stiffness and shape for maximized performance. In this paper, optimal chordwise stiffness profiles that maximize the propulsive performance have been predicted using theoretical studies. An experimental setup has been fabricated to measure the stiffness profiles of real fish caudal fins. Chordwise varying stiffness robotic fins fabricated using carbon fiber reinforced composites (CFRC) have been tested in the water tunnel to evaluate their performance over constant stiffness fins. It is observed that the varying stiffness fins produce larger thrusts and efficiencies compared to constant stiffness fins for all the operating conditions considered in this work. A comparison of the digital image correlation (DIC) measured deformations of the fins showed that the better performance of varying stiffness fins is due to their larger curvatures and trailing edge amplitudes. These theoretical and experimental studies provide a greater understanding of the role of stiffness in fish fins for locomotion.

Force generation and wing deformation characteristics of a flapping-wing micro air vehicle 'DelFly II' in hovering flight.

Abstract: The study investigates the aerodynamic performance and the relation between wing deformation and unsteady force generation of a flapping-wing micro air vehicle in hovering flight configuration. Different experiments were performed where fluid forces were acquired with a force sensor, while the three-dimensional wing deformation was measured with a stereo-vision system. In these measurements, time-resolved power consumption and flapping-wing kinematics were also obtained under both in-air and in-vacuum conditions. Comparison of the results for different flapping frequencies reveals different wing kinematics and deformation characteristics. The high flapping frequency case produces higher forces throughout the complete flapping cycle. Moreover, a phase difference occurs in the variation of the forces, such that the low flapping frequency case precedes the high frequency case. A similar phase lag is observed in the temporal evolution of the wing deformation characteristics, suggesting that there is a direct link between the two phenomena. A considerable camber formation occurs during stroke reversals, which is mainly determined by the stiffener orientation. The wing with the thinner surface membrane displays very similar characteristics to the baseline wing, which implies the dominance of the stiffeners in terms of providing rigidity to the wing. Wing span has a significant effect on the aerodynamic efficiency such that increasing the span length by 4 cm results in a 6% enhancement in the cycle-averaged X-force to power consumption ratio compared to the standard DelFly II wings with a span length of 28 cm.

Investigation of Collective Behaviour and Electrocommunication in the Weakly Electric Fish, Mormyrus rume, through a biomimetic Robotic Dummy Fish

Abstract: A robotic fish has been developed to create a mixed bio-hybrid system made up of weakly electric fish and a mobile dummy fish. Weakly electric fish are capable of interacting with each other via sequences of self-generated electric signals during electrocommunication. Here we present the design of an artificial dummy fish, which is subsequently tested in behavioural experiments. The robot consists of two parts: a flexible tail that can move at different frequencies and amplitudes, performing a carangiform oscillation, and a rigid head containing the motor for the tail oscillation. The dummy fish mimics the weakly electric fish Mormyrus rume in morphology, size and electric signal generation. In order to study electrical interactions, the dummy fish is equipped with ten electrodes that record electric signals of nearby real fish and generate electric dipole fields around itself that are similar to those produced by real fish in both waveform and sequence. Behavioural experiments demonstrate that the dummy fish is able to recruit both single individuals and groups of M. rume from a shelter into an exposed area. The development of an artificial dummy fish may help to understand fundamental aspects of collective behaviour in weakly electric fish and the properties necessary to initiate and sustain it in closed-loop feedback experiments based on electrocommunication.