Biomimetics

Research

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18 pages, 7211 KiB

Open AccessArticle

Anatomically-Inspired Robotic Finger with SMA Tendon Actuation for Enhanced Biomimetic Functionality

by Renke Liu, Huakai Zheng, Maroš Hliboký, Hiroki Endo, Shuyao Zhang, Yusuke Baba and Hideyuki Sawada

Biomimetics 2024, 9(3), 151; https://doi.org/10.3390/biomimetics9030151 - 1 Mar 2024

Cited by 1 | Viewed by 1186

Abstract

This research introduces an advanced robotic finger designed for future generalist robots, closely mimicking the natural structure of the human finger. The incorporation of rarely discussed anatomical structures, including tendon sheath, ligaments, and palmar plates, combined with the usage of anatomically proven 3D [...] Read more.

This research introduces an advanced robotic finger designed for future generalist robots, closely mimicking the natural structure of the human finger. The incorporation of rarely discussed anatomical structures, including tendon sheath, ligaments, and palmar plates, combined with the usage of anatomically proven 3D models of the finger, give rise to the highly accurate replication of human-like soft mechanical fingers. Benefiting from the accurate anatomy of muscle insertions with the utilization of Shape Memory Alloy (SMA) wires’ muscle-like actuation properties, the bonding in-between the flexor tendons and extensor tendons allows for the realization of the central and lateral band of the finger anatomy. Evaluated using the computer vision method, the proposed robotic finger demonstrates a range of motion (ROM) equivalent to 113%, 87% and 88% of the human dynamic ROM for the DIP, PIP and MCP joints, respectively. The proposed finger possesses a soft nature when relaxed and becomes firm when activated, pioneering a new approach in biomimetic robot design and offering a unique contribution to the future of generalist humanoid robots. Full article

(This article belongs to the Special Issue Bioinspired Engineering and the Design of Biomimetic Structures)

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18 pages, 2888 KiB

Open AccessArticle

Facial Expression Realization of Humanoid Robot Head and Strain-Based Anthropomorphic Evaluation of Robot Facial Expressions

by Zhibin Yan, Yi Song, Rui Zhou, Liuwei Wang, Zhiliang Wang and Zhendong Dai

Biomimetics 2024, 9(3), 122; https://doi.org/10.3390/biomimetics9030122 - 20 Feb 2024

Viewed by 1459

Abstract

The facial expressions of humanoid robots play a crucial role in human–computer information interactions. However, there is a lack of quantitative evaluation methods for the anthropomorphism of robot facial expressions. In this study, we designed and manufactured a humanoid robot head that was [...] Read more.

The facial expressions of humanoid robots play a crucial role in human–computer information interactions. However, there is a lack of quantitative evaluation methods for the anthropomorphism of robot facial expressions. In this study, we designed and manufactured a humanoid robot head that was capable of successfully realizing six basic facial expressions. The driving force behind the mechanism was efficiently transmitted to the silicone skin through a rigid linkage drive and snap button connection, which improves both the driving efficiency and the lifespan of the silicone skin. We used human facial expressions as a basis for simulating and acquiring the movement parameters. Subsequently, we designed a control system for the humanoid robot head in order to achieve these facial expressions. Moreover, we used a flexible vertical graphene sensor to measure strain on both the human face and the silicone skin of the humanoid robot head. We then proposed a method to evaluate the anthropomorphic degree of the robot’s facial expressions by using the difference rate of strain. The feasibility of this method was confirmed through experiments in facial expression recognition. The evaluation results indicated a high degree of anthropomorphism for the six basic facial expressions which were achieved by the humanoid robot head. Moreover, this study also investigates factors affecting the reproduction of expressions. Finally, the impulse was calculated based on the strain curves of the energy consumption of the humanoid robot head to complete different facial expressions. This offers a reference for fellow researchers when designing humanoid robot heads, based on energy consumption ratios. To conclude, this paper offers data references for optimizing the mechanisms and selecting the drive components of the humanoid robot head. This was realized by considering the anthropomorphic degree and energy consumption of each part. Additionally, a new method for evaluating robot facial expressions is proposed. Full article

(This article belongs to the Special Issue Bioinspired Engineering and the Design of Biomimetic Structures)

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14 pages, 28560 KiB

Open AccessArticle

Comparative Analysis of Macro/Microstructures and Constituents of Sorghum and Reed Straw

by Jiafeng Song, Guoyu Li, Yansong Liu and Meng Zou

Biomimetics 2024, 9(2), 107; https://doi.org/10.3390/biomimetics9020107 - 11 Feb 2024

Viewed by 955

Abstract

Node-containing straws exhibit superior mechanical properties compared to node-free straw plants, particularly in terms of shear resistance and compression resistance. We explore the relationship between the structure and mechanical properties of straw materials, providing deeper insights for the field of biomechanics. In this [...] Read more.

Node-containing straws exhibit superior mechanical properties compared to node-free straw plants, particularly in terms of shear resistance and compression resistance. We explore the relationship between the structure and mechanical properties of straw materials, providing deeper insights for the field of biomechanics. In this study, we focused on two node-containing straw plants, namely sorghum and reed. The main characteristics of sorghum and reed stalks were compared using macroscopic observation, stereomicroscopy, scanning electron microscopy, infrared spectroscopy, and EDS analysis. This study revealed numerous similarities and differences in the macro- and microstructures as well as the elemental composition of sorghum and reed stalks. The functional groups in sorghum and reed stalks were largely similar, with the primary elements being C and O. Distinguishing features included a higher tapering and a slightly larger reduction in wall thickness in sorghum stalks compared to reed stalks. The cross-section of sorghum stalks was filled with pith structures, while reed stalks exhibited a hollow structure. The vascular bundles in sorghum typically showed a paired arrangement, whereas those in reeds were arranged in odd numbers. Furthermore, sorghum straws contained more Cl and no Br, while the parenchyma of reed straws contained higher Br. The C and O proportions of sorghum straws and reed straws are 50–53% (50–51%) and 45–46% (48–49%), respectively. These variations in elemental composition are believed to be correlated with the mechanical properties of the materials. By conducting a detailed study of the micro/macrostructures and material composition of sorghum and reed straw, this paper provides valuable insights for the field of biomechanics. Full article

(This article belongs to the Special Issue Bioinspired Engineering and the Design of Biomimetic Structures)

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23 pages, 14614 KiB

Open AccessArticle

The Design and Control of a Biomimetic Binocular Cooperative Perception System Inspired by the Eye Gaze Mechanism

by Xufang Qin, Xiaohua Xia, Zhaokai Ge, Yanhao Liu and Pengju Yue

Biomimetics 2024, 9(2), 69; https://doi.org/10.3390/biomimetics9020069 - 24 Jan 2024

Viewed by 949

Abstract

Research on systems that imitate the gaze function of human eyes is valuable for the development of humanoid eye intelligent perception. However, the existing systems have some limitations, including the redundancy of servo motors, a lack of camera position adjustment components, and the [...] Read more.

Research on systems that imitate the gaze function of human eyes is valuable for the development of humanoid eye intelligent perception. However, the existing systems have some limitations, including the redundancy of servo motors, a lack of camera position adjustment components, and the absence of interest-point-driven binocular cooperative motion-control strategies. In response to these challenges, a novel biomimetic binocular cooperative perception system (BBCPS) was designed and its control was realized. Inspired by the gaze mechanism of human eyes, we designed a simple and flexible biomimetic binocular cooperative perception device (BBCPD). Based on a dynamic analysis, the BBCPD was assembled according to the principle of symmetrical distribution around the center. This enhances braking performance and reduces operating energy consumption, as evidenced by the simulation results. Moreover, we crafted an initial position calibration technique that allows for the calibration and adjustment of the camera pose and servo motor zero-position, to ensure that the state of the BBCPD matches the subsequent control method. Following this, a control method for the BBCPS was developed, combining interest point detection with a motion-control strategy. Specifically, we propose a binocular interest-point extraction method based on frequency-tuned and template-matching algorithms for perceiving interest points. To move an interest point to a principal point, we present a binocular cooperative motion-control strategy. The rotation angles of servo motors were calculated based on the pixel difference between the principal point and the interest point, and PID-controlled servo motors were driven in parallel. Finally, real experiments validated the control performance of the BBCPS, demonstrating that the gaze error was less than three pixels. Full article

(This article belongs to the Special Issue Bioinspired Engineering and the Design of Biomimetic Structures)

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14 pages, 6974 KiB

Open AccessArticle

Mechanical Resistance of the Largest Denticle on the Movable Claw of the Mud Crab

by Tadanobu Inoue, Yuka Hara and Koji Nakazato

Biomimetics 2023, 8(8), 602; https://doi.org/10.3390/biomimetics8080602 - 13 Dec 2023

Viewed by 1256

Abstract

Decapod crustaceans have tooth-like white denticles that are present only on the pinching side of the claws. In the mud crab, Scylla serrata, a huge denticle exists on the movable finger of the dominant claw. This is mainly used to crush the [...] Read more.

Decapod crustaceans have tooth-like white denticles that are present only on the pinching side of the claws. In the mud crab, Scylla serrata, a huge denticle exists on the movable finger of the dominant claw. This is mainly used to crush the shells of the crab’s staple food. The local mechanical properties, hardness (H_IT) and elastic modulus (E_r), of the peak and valley areas of the largest denticle were examined via a nanoindentation test. The microstructure and elemental composition were characterized using a scanning electron microscope and energy-dispersive X-ray spectroscopy. The striation patterns originating from a twisted plywood structure parallel to the surface were visible over the entire denticle. Most of the largest denticle was occupied by a hard area without phosphorus, and there was a soft layer corresponding to the endocuticle with phosphorus in the innermost part. The H_IT of the denticle valley was about 40% lower than that of the denticle peak, and the thickness of the soft endocuticle of the denticle valley was five times thicker than that of the denticle peak. The H_IT–E_r map showed that the abrasion resistance of the denticle surface was vastly superior and was in the top class among organisms. The claw denticles were designed with the necessary characteristics in the necessary places, as related to the ecology of the mud crab. Full article

(This article belongs to the Special Issue Bioinspired Engineering and the Design of Biomimetic Structures)

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15 pages, 9248 KiB

Open AccessArticle

Foot Bionics Research Based on Reindeer Hoof Attachment Mechanism and Macro/Microstructures

by Guoyu Li, Rui Zhang, Yexuan Luo, Yue Liu, Qiang Cao and Jiafeng Song

Biomimetics 2023, 8(8), 600; https://doi.org/10.3390/biomimetics8080600 - 12 Dec 2023

Viewed by 1244

Abstract

The attachment performances of mechanical feet are significant in improving the trafficability and mobility of robots on the extreme ground. In the future, frozen-ground robots can be used to replace human soldiers in scouting and deep space exploration. In this study, the influence [...] Read more.

The attachment performances of mechanical feet are significant in improving the trafficability and mobility of robots on the extreme ground. In the future, frozen-ground robots can be used to replace human soldiers in scouting and deep space exploration. In this study, the influence factors on the attachment function of the bionic feet were analyzed. Soft frozen soil and tight frozen soil close to natural frozen soil were prepared, and the friction between ungula and frozen soil ground was simulated together with the plantar pressures of reindeer under trotting. The major attachment parts were the ungula cusp, outer edges, and ungula capsules, and the stress on the ungula was mainly 4.56–24.72 MPa. According to the microstructures of plantar fur and ungula, the corresponding ratio of the rib width and length was 0.65:1, and the corresponding ratio of the rib width and distance was 3:1. In addition, the scales of the plantar fur were very tightly arranged and had large ripples. Based on typical curves, an ungula capsule-curved surface, and a nonsmooth plantar fur surface, four types of bionic feet and the corresponding ordinary multidamboard foot were designed. On the frozen soil, the bionic foot with ribs and an ungula capsule showed the best attachment performance. Compared with the multidamboard foot, the dynamic coefficient of friction of the bionic foot with ribs and ungula capsules increased by 11.43–31.75%. The attachment mechanism of the bionic feet is as follows: under the action of pressure, the fine patterns of the bionic convex-crown generate friction with the nonsmooth structure of the frozen soil surface, which improves the attachment performance. Full article

(This article belongs to the Special Issue Bioinspired Engineering and the Design of Biomimetic Structures)

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Review

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37 pages, 9151 KiB

Open AccessReview

Nature-Inspired Designs in Wind Energy: A Review

by Farzaneh Omidvarnia and Ali Sarhadi

Biomimetics 2024, 9(2), 90; https://doi.org/10.3390/biomimetics9020090 - 1 Feb 2024

Viewed by 2663

Abstract

The field of wind energy stands at the forefront of sustainable and renewable energy solutions, playing a pivotal role in mitigating environmental concerns and addressing global energy demands. For many years, the convergence of nature-inspired solutions and wind energy has emerged as a [...] Read more.

The field of wind energy stands at the forefront of sustainable and renewable energy solutions, playing a pivotal role in mitigating environmental concerns and addressing global energy demands. For many years, the convergence of nature-inspired solutions and wind energy has emerged as a promising avenue for advancing the efficiency and sustainability of wind energy systems. While several research endeavors have explored biomimetic principles in the context of wind turbine design and optimization, a comprehensive review encompassing this interdisciplinary field is notably absent. This review paper seeks to rectify this gap by cataloging and analyzing the multifaceted body of research that has harnessed biomimetic approaches within the realm of wind energy technology. By conducting an extensive survey of the existing literature, we consolidate and scrutinize the insights garnered from diverse biomimetic strategies into design and optimization in the wind energy domain. Full article

(This article belongs to the Special Issue Bioinspired Engineering and the Design of Biomimetic Structures)

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24 pages, 9957 KiB

Open AccessReview

Construction of Wearable Touch Sensors by Mimicking the Properties of Materials and Structures in Nature

by Baojun Geng, Henglin Zeng, Hua Luo and Xiaodong Wu

Biomimetics 2023, 8(4), 372; https://doi.org/10.3390/biomimetics8040372 - 17 Aug 2023

Cited by 3 | Viewed by 2234

Abstract

Wearable touch sensors, which can convert force or pressure signals into quantitative electronic signals, have emerged as essential smart sensing devices and play an important role in various cutting-edge fields, including wearable health monitoring, soft robots, electronic skin, artificial prosthetics, AR/VR, and the [...] Read more.

Wearable touch sensors, which can convert force or pressure signals into quantitative electronic signals, have emerged as essential smart sensing devices and play an important role in various cutting-edge fields, including wearable health monitoring, soft robots, electronic skin, artificial prosthetics, AR/VR, and the Internet of Things. Flexible touch sensors have made significant advancements, while the construction of novel touch sensors by mimicking the unique properties of biological materials and biogenetic structures always remains a hot research topic and significant technological pathway. This review provides a comprehensive summary of the research status of wearable touch sensors constructed by imitating the material and structural characteristics in nature and summarizes the scientific challenges and development tendencies of this aspect. First, the research status for constructing flexible touch sensors based on biomimetic materials is summarized, including hydrogel materials, self-healing materials, and other bio-inspired or biomimetic materials with extraordinary properties. Then, the design and fabrication of flexible touch sensors based on bionic structures for performance enhancement are fully discussed. These bionic structures include special structures in plants, special structures in insects/animals, and special structures in the human body. Moreover, a summary of the current issues and future prospects for developing wearable sensors based on bio-inspired materials and structures is discussed. Full article

(This article belongs to the Special Issue Bioinspired Engineering and the Design of Biomimetic Structures)

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