Biomimetics

Cyborg insects offer a biologically powered solution for locomotion control, but conventional methods typically rely on invasive electrical stimulation. Here, we introduce a noninvasive, phototaxis-based strategy to steer walking Endebius florensis beetles using light-emitting diode (LED) stimuli. Electroretinogram recordings revealed spectral sensitivity to blue, green, and yellow light, with reduced response to red. Behavioral assays demonstrated robust positive phototaxis to blue light and negative phototaxis to yellow. Using these findings, we built a wireless microcontroller-based backpack emitting directional blue light to induce steering. The beetles reliably turned toward the activated light, achieving angular deflections over 60° within seconds. This approach enables repeatable, trauma-free insect control and establishes a new paradigm for biohybrid locomotion systems. Full article

Robotic assembly of electrical connectors enables the automation of high-efficiency production of electronic products. A rigid gripper is adopted as the end-effector by the majority of existing works with a force–torque sensor installed at the wrist, which suffers from very limited perception capability of the manipulated objects. Moreover, the grasping and movement actions, as well as the inconsistency between the robot base and the end-effector frame, tend to result in angular misalignment, usually leading to assembly failure. Bio-inspired by the human finger, we designed a tactile finger in this paper with three characteristics: (1) Compliance: A soft ‘skin’ layer provides passive compliance for plenty of manipulation actions, thus increasing the tolerance for alignment errors. (2) Tactile Perception: Two types of sensing elements are embedded into the soft skin to tactilely sense the involved contact status. (3) Enhanced manipulation force: A rigid fingernail is designed to enhance the manipulation force and enable potential delicate operations. Moreover, a tactile-based alignment algorithm is proposed to search for the optimal orientation angle about the z axis. In the application of U-disk insertion, the three characteristics are validated and a success rate of 100% is achieved, whose generalization capability is also validated through the assembly of three types of electrical connectors. Full article

Background: The implant–abutment joint is important for the long-term marginal tissue integrity in terms of biomimetic design that replicates the natural dentition under mastication forces. This study aimed to evaluate conical implant–abutment joints coupled at different tightening torque values through a mechanical fatigue test. Methods: Eighty conic implants (Ø: 3.8 mm L: 10 mm) with a 6° cone morse joint were embedded in resin blocks with an inclination of 30° ± 2°. The samples were divided into 8 groups (4 Test and 4 Control). The implant–abutment joints were coupled with different tightening torques: 25 Ncm (Group I), 30 Ncm (Group II), 35 Ncm (Group III) and 40 Ncm (Group IV). An in vitro cyclic loading test (1 × 10⁴ loads) was performed for 4 Test groups, while 4 Control groups did not receive any forces. All the samples were assessed with Scanning Electron Microscopy to compare the microfractures and microgaps on flexion and extension points. Results: Microscopy observation results showed significant differences among torque groups. We found that 30 Ncm had the best stability with less microgap. Conclusions: Tightening torque plays an important role in the distortion of the cone morse joint under mechanical forces. However, further studies should be conducted to validate the results using different implant–abutment joints for comparison. Full article

Bioinspired soft adhesive systems capable of stable and intelligent object manipulation are critical for next-generation robotics. In this study, a soft gripper combining an octopus-inspired suction mechanism with a frog-inspired hexagonal friction pattern was developed to enhance adhesion performance under diverse surface conditions and orientations. The hexagonal pattern, inspired by frog toe pads, contributed to improved stability against tilting and shear forces. The integrated strain gauge enabled real-time monitoring of gripping states and facilitated the detection of contact location and changes in load distribution during manipulation. The system demonstrated robust adhesion under both dry and wet conditions, with adaptability to various object geometries and inclinations. These results suggest broad potential for bioinspired gripping platforms in fields such as collaborative robotics, medical tools, and underwater systems. Full article

A stroke is a critical medical condition and one of the leading causes of death among humans. Segmentation of the lesions of the brain in which the blood flow is impeded because of blood coagulation plays a vital role in drug prescription and medical diagnosis. Computed tomography (CT) scans play a crucial role in detecting abnormal tissue. There are several methods for segmenting medical images that utilize the main images without considering the patient’s privacy information. In this paper, a deep network is proposed that utilizes compressive sensing and ensemble learning to protect patient privacy and segment the dataset efficiently. The compressed version of the input CT images from the ISLES challenge 2018 dataset is applied to the ensemble part of the proposed network, which consists of two multi-resolution modified U-shaped networks. The evaluation metrics of accuracy, specificity, and dice coefficient are 92.43%, 91.3%, and 91.83%, respectively. The comparison to the state-of-the-art methods confirms the efficiency of the proposed compressive sensing-based ensemble net (CS-Ensemble Net). The compressive sensing part provides information privacy, and the parallel ensemble learning produces better results. Full article

Background: This study investigated a new multi-acid-etching formulation for zirconia ceramics, containing hydrochloric, hydrofluoric, nitric, orthophosphoric, and sulfuric acids. The solution was tested on polycrystalline (5Y-TZP zirconia), lithium disilicate, hybrid ceramic, and feldspathic porcelain to assess compatibility, etching selectivity, and surface conditioning. Methods: Two-hundred-and-forty CAD/CAM specimens were etched for 20 s, 60 s, 30 min, or 1 h, and their surface roughness and etching patterns ware evaluated using 3D optical profilometry and scanning electron microscopy (SEM). Results: A positive correlation was observed between etching time and surface roughness (Ra values). The most pronounced changes were observed in lithium disilicate and feldspathic porcelain, with Ra values increasing from 0.733 ± 0.082 µm (Group 5) to 1.295 ± 0.123 µm (Group 8), and from 0.902 ± 0.102 µm (Group 13) to 1.480 ± 0.096 µm (Group 16), respectively. Zirconia increased from 0.181 ± 0.043 µm (Group 1) to 0.371 ± 0.074 µm (Group 4), and the hybrid ceramic from 0.053 ± 0.008 µm (Group 9) to 0.099 ± 0.016 µm (Group 12). Two-way ANOVA revealed significant effects of material and etching time, as well as a significant interaction between the two factors (p < 0.001). SEM observation revealed non-selective etching pattern for the lithium disilicate groups, indicating a risk of over-etching. Conclusions: The tested etching solution increased surface roughness, especially for the lithium disilicate and feldspathic porcelain specimens. In zirconia, one-hour etching improved surface characteristics with minimal observable damage. However, additional studies are necessary to validate the mechanical stability and bond effectives of this approach. Full article

Titanium–aluminum–vanadium (Ti6Al4V) is a material chosen for spine, orthopedic, and dental implants due to its combination of desirable mechanical and biological properties. Lasers have been used to modify metal surfaces, enabling the generation of a surface on Ti6Al4V with distinct micro- and nano-scale structures. Studies indicate that topography with micro/nano features of osteoclast resorption pits causes bone marrow stromal cells (MSCs) and osteoprogenitor cells to favor differentiation into an osteoblastic phenotype. This study examined whether the biological response of human MSCs to Ti6Al4V surfaces is sensitive to laser treatment-controlled micro/nano-topography. First, 15 mm diameter Ti6Al4V discs (Spine Wave Inc., Shelton, CT, USA) were either machined (M) or additively manufactured (AM). Surface treatments included no laser treatment (NT), nanosecond laser (Ns), femtosecond laser (Fs), or nanosecond followed by femtosecond laser (Ns+Fs). Surface wettability, roughness, and surface chemistry were determined using sessile drop contact angle, laser confocal microscopy, X-ray photoelectron spectroscopy (XPS), and scanning electron microscopy (SEM). Human MSCs were cultured in growth media on tissue culture polystyrene (TCPS) or test surfaces. On day 7, the levels of osteocalcin (OCN), osteopontin (OPN), osteoprotegerin (OPG), and vascular endothelial growth factor 165 (VEGF) in the conditioned media were measured. M NT, Fs, and Ns+Fs surfaces were hydrophilic; Ns was hydrophobic. AM NT and Fs surfaces were hydrophilic; AM Ns and Ns+Fs were hydrophobic. Roughness (Sa and Sz) increased after Ns and Ns+Fs treatment for both M and AM disks. All surfaces primarily consisted of oxygen, titanium, and carbon; Fs had increased levels of aluminum for both M and AM. SEM images showed that M NT discs had a smooth surface, whereas AM surfaces appeared rough at a higher magnification. Fs surfaces had a similar morphology to their respective NT disc at low magnification, but higher magnification revealed nano-scale bumps not seen on NT surfaces. AM Fs surfaces also had regular interval ridges that were not seen on non-femto laser-ablated surfaces. Surface roughness was increased on M and AM Ns and Ns+Fs disks compared to NT and Fs disks. OCN was enhanced, and DNA was reduced on Ns and Ns+Fs, with no difference between them. OPN, OPG, and VEGF levels for laser-treated M surfaces were unchanged compared to NT, apart from an increase in OPG on Fs. MSCs grown on AM Ns and Ns+Fs surfaces had increased levels of OCN per DNA. These results indicate that MSCs cultured on AM Ns and AM Ns+Fs surfaces, which exhibited unique roughness at the microscale and nanoscale, had enhanced differentiation to an osteoblastic phenotype. The laser treatments of the surface mediated this enhancement of MSC differentiation and warrant further clinical investigation. Full article

Automated movement intention is crucial for brain–computer interface (BCI) applications. The automatic identification of movement intention can assist patients with movement problems in regaining their mobility. This study introduces a novel approach for the automatic identification of movement intention through finger tapping. This work has compiled a database of EEG signals derived from left finger taps, right finger taps, and a resting condition. Following the requisite pre-processing, the captured signals are input into the proposed model, which is constructed based on graph theory and deep convolutional networks. In this study, we introduce a novel architecture based on six deep convolutional graph layers, specifically designed to effectively capture and extract essential features from EEG signals. The proposed model demonstrates a remarkable performance, achieving an accuracy of 98% in a binary classification task when distinguishing between left and right finger tapping. Furthermore, in a more complex three-class classification scenario, which includes left finger tapping, right finger tapping, and an additional class, the model attains an accuracy of 92%. These results highlight the effectiveness of the architecture in decoding motor-related brain activity from EEG data. Furthermore, relative to recent studies, the suggested model exhibits significant resilience in noisy situations, making it suitable for online BCI applications. Full article

Humanoid robots have attracted considerable attention for their anthropomorphic structure, extended workspace, and versatile capabilities. This paper presents a novel humanoid upper-body robotic system comprising a pair of 8-degree-of-freedom (DOF) arms, a 3-DOF head, and a 3-DOF torso—yielding a 22-DOF architecture inspired by human biomechanics and implemented via standardized hollow joint modules. To overcome the critical reliance of zeroing neural network (ZNN)-based trajectory tracking on the Jacobian matrix derivative, we propose an integration-enhanced matrix derivative observer (IEMDO) that incorporates nonlinear feedback and integral correction. The observer is theoretically proven to ensure asymptotic convergence and enables accurate, real-time estimation of matrix derivatives, addressing a fundamental limitation in conventional ZNN solvers. Workspace analysis reveals that the proposed design achieves an 87.7% larger total workspace and a remarkable 3.683-fold expansion in common workspace compared to conventional dual-arm baselines. Furthermore, the observer demonstrates high estimation accuracy for high-dimensional matrices and strong robustness to noise. When integrated into the ZNN controller, the IEMDO achieves high-precision trajectory tracking in both simulation and real-world experiments. The proposed framework provides a practical and theoretically grounded approach for redundant humanoid arm control. Full article

The Slime Mould Algorithm (SMA) is a widely used swarm intelligence algorithm. Encouraged by the theory of no free lunch and the inherent shortcomings of the SMA, this work proposes a new variant of the SMA, called the BWSMA, in which three improvement mechanisms are integrated. The adaptive greedy mechanism is used to accelerate the convergence of the algorithm and avoid ineffective updates. The best–worst management strategy improves the quality of the population and increases its search capability. The stagnant replacement mechanism prevents the algorithm from falling into a local optimum by replacing stalled individuals. In order to verify the effectiveness of the proposed method, this paper conducts a full range of experiments on the CEC2018 test suite and the CEC2022 test suite and compares BWSMA with three derived algorithms, eight SMA variants, and eight other improved algorithms. The experimental results are analyzed using the Wilcoxon rank-sum test, the Friedman test, and the Nemenyi test. The results indicate that the BWSMA significantly outperforms these compared algorithms. In the comparison with the SMA variants, the BWSMA obtained average rankings of 1.414, 1.138, 1.069, and 1.414. In comparison with other improved algorithms, the BWSMA obtained average rankings of 2.583 and 1.833. Finally, the applicability of the BWSMA is further validated through two structural optimization problems. In conclusion, the proposed BWSMA is a promising algorithm with excellent search accuracy and robustness. Full article

Traditional algorithms such as Dijkstra and APF rely on complete environmental information for path planning, which results in numerous constraints during modeling. This not only increases the complexity of the algorithms but also reduces the efficiency and reliability of the planning. Swarm intelligence algorithms possess strong data processing and search capabilities, enabling them to efficiently solve path planning problems in different environments and generate approximately optimal paths. However, swarm intelligence algorithms suffer from issues like premature convergence and a tendency to fall into local optima during the search process. Thus, an improved Artificial Bee Colony-Beetle Antennae Search (IABCBAS) algorithm is proposed. Firstly, Tent chaos and non-uniform variation are introduced into the bee algorithm to enhance population diversity and spatial searchability. Secondly, the stochastic reverse learning mechanism and greedy strategy are incorporated into the beetle antennae search algorithm to improve direction-finding ability and the capacity to escape local optima, respectively. Finally, the weights of the two algorithms are adaptively adjusted to balance global search and local refinement. Results of experiments using nine benchmark functions and four comparative algorithms show that the improved algorithm exhibits superior path point search performance and high stability in both high- and low-dimensional environments, as well as in unimodal and multimodal environments. Ablation experiment results indicate that the optimization strategies introduced in the algorithm effectively improve convergence accuracy and speed during path planning. Results of the path planning experiments show that compared with the comparison algorithms, the average path planning distance of the improved algorithm is reduced by 23.83% in the 2D multi-obstacle environment, and the average planning time is shortened by 27.97% in the 3D surface environment. The improvement in path planning efficiency makes this algorithm of certain value in engineering applications. Full article

This study presents a novel method for controlling the position and orientation of the bioinspired I-SUPPORT soft robot, which represents a relevant advancement in the field of soft robotics. The approach is based on module actuation decoupling and fractional-order control, offering a more advanced and robust control solution. This innovation enhances the versatility of the robot and illustrates the efficacy of fractional-order controllers, which are comparable to current meta-learning-based controllers. The research involves experiments in both vertical and horizontal configurations, addressing tasks ranging from simple orientation to complex interactions, such as gentle rubbing during bathing activities with the robot. These experimental results exemplify the efficacy of the proposed control strategy and provide a foundation for future research in soft robotics control, underscoring its potential for broader applications and further technological advancement. Full article

Microfluidic platforms offer a powerful approach for ultimately replicating vascularization in vitro, enabling precise microscale control and manipulation of physical parameters. Despite these advances, the real-time ability to monitor and quantify mechanical forces—particularly pressure—within microfluidic environments remains constrained by limitations in cost and compatibility across diverse device architectures. Our work presents an advanced experimental module for quantifying pressure within a vascularizing microfluidic platform. Equipped with an integrated Arduino microcontroller and image monitoring, the system facilitates real-time remote monitoring to access temporal pressure and flow dynamics within the device. This setup provides actionable insights into the hemodynamic parameters driving vascularization in vitro. In-line pressure sensors, interfaced through I2C communication, are employed to precisely record inlet and outlet pressures during critical stages of microvasculature tubulogenesis. Flow measurements are obtained by analyzing changes in reservoir volume over time (dV/dt), correlated with the change in pressure over time (dP/dt). This quantitative assessment of various pressure conditions in a microfluidic platform offers insights into their impact on microvasculature perfusion kinetics. Data acquisition can help inform and finetune functional vessel network formation and potentially enhance the durability, stability, and reproducibility of engineered in vitro platforms for organoid vascularization in regenerative medicine. Full article

The heterogeneous automatic guided vehicle (AGV) system, composed of several AGVs with different load capability and handling function, has good flexibility and agility to operational requirements. Accurate task travel time prediction (T3P) is vital for the efficient operation of heterogeneous AGV systems. However, T3P remains a challenging problem due to individual task correlations and dynamic changes in model input/output dimensions. To address these challenges, a biomimetics-inspired learning framework based on a radial basis function (RBF) neural network with an improved mayfly algorithm and a selective update strategy (IMA-SURBF) is proposed. Firstly, a T3P model is constructed by using travel-influencing factors as input and task travel time as output of the RBF neural network, where the input/output dimension is determined dynamically. Secondly, the improved mayfly algorithm (IMA), a biomimetic metaheuristic method, is adopted to optimize the initial parameters of the RBF neural network, while a selective update strategy is designed for parameter updates. Finally, simulation experiments on model design, parameter initialization, and comparison with deep learning-based models are conducted in a complex assembly line scenario to validate the accuracy and efficiency of the proposed method. Full article

This paper presents a multi-strategy enhanced bald eagle search algorithm (EAB-BES) for 3D UAV path planning in urban environments. EAB-BES addresses key limitations of the traditional bald eagle search (BES) algorithm, including slow convergence, susceptibility to local optima, and poor adaptability in complex urban scenarios. The algorithm enhances solution space exploration through elite opposition-based learning, balances global search and local exploitation via an adaptive weight mechanism, and refines local search directions using block-based elite-guided differential mutation. These innovations significantly improve BES’s convergence speed, path accuracy, and adaptability to urban constraints. To validate its effectiveness, six high-density urban environments with varied obstacles were used for comparative experiments against nine advanced algorithms. The results demonstrate that EAB-BES achieves the fastest convergence speed and lowest stable fitness values and generates the shortest, smoothest collision-free 3D paths. Statistical tests and box plot analysis further confirm its superior performance in multiple performance metrics. EAB-BES has greater competitiveness compared with the comparative algorithms and can provide an efficient, reliable and robust solution for UAV autonomous navigation in complex urban environments. Full article

Underwater propulsion systems are the fundamental functional modules of underwater robotics and are crucial in intricate underwater operational scenarios. This paper proposes a biomimetic underwater robot propulsion scheme that is motivated by the hindlimb movements of the bullfrog. A multi-linkage mechanism was developed to replicate the “kicking-and-retracting” motion of the bullfrog by employing motion capture systems to acquire biological data on their hindlimb movements. The FDM 3D printing and PC board engraving techniques were employed to construct the experimental prototype. The prototype’s biomimetic and motion characteristics were validated through motion capture experiments and comparisons with a real bullfrog. The biomimetic bullfrog hindlimb propulsion system was tested with six-degree-of-freedom force experiments to evaluate its propulsion capabilities. The system achieved an average thrust of 2.65 N. The effectiveness of motor drive parameter optimization was validated by voltage comparison experiments, which demonstrated a nonlinear increase in thrust as voltage increased. This design approach, which transforms biological kinematic characteristics into mechanical drive parameters, exhibits excellent feasibility and efficacy, offering a novel solution and quantitative reference for underwater robot design. Full article

Although artificial intelligence methods such as reinforcement learning (RL) show potential in optimizing the design of compressors, there are still two major challenges remaining: limited design variables and insufficient model explainability. For the initial design of compressors, this paper proposes a technical approach that incorporates deep reinforcement learning and decision tree distillation to enhance both the optimization capability and explainability. First, a pre-selection platform for the initial design scheme of the compressors is constructed based on the Deep Deterministic Policy Gradient (DDPG) algorithm. The optimization space is significantly enlarged by expanding the co-design of 25 key variables (e.g., the inlet airflow angle, the reaction, the load coefficient, etc.). Then, the initial design of six-stage axial compressors is successfully completed, with the axial efficiency increasing to 84.65% at the design speed and the surge margin extending to 10.75%. The design scheme is closer to the actual needs of engineering. Secondly, Shapley Additive Explanations (SHAP) analysis is utilized to reveal the influence of the mechanism of the key design parameters on the performance of the compressors in order to enhance the model explainability. Finally, the decision tree inspired by the black-winged kite (BKA) algorithm takes the interpretable design rules and transforms the data-driven intelligent optimization into explicit engineering experience. Through experimental validation, this method significantly improves the transparency of the design process while maintaining the high performance of the DDPG algorithm. The extracted design rules not only have clear physical meanings but also can effectively guide the initial design of the compressors, providing a new idea with both optimization capability and explainability for its intelligent design. Full article

Superb Fairy-wren Optimization Algorithm (SFOA) is an animal-based meta-heuristic algorithm derived from Fairy-wren’s behavior of growing, feeding, and avoiding natural enemies. The SFOA has some shortcomings when facing complex environments. Its switching mechanism is not enough to adapt to complex optimization problems, and it faces a weakening of population diversity in the late stage of optimization, leading to a higher possibility of falling into local optima. In addition, its global search ability needs to be improved. To address the above deficiencies, this paper proposes an Adaptive Superb Fairy-wren Optimization Algorithm (ASFOA). To assess the ability of the proposed ASFOA, three groups of experiments are conducted in this paper. Firstly, the effectiveness of the proposed improved strategies is checked on the CEC2018 test set. Second, the ASFOA is compared with eight classical/highly cited/newly proposed metaheuristics on the CEC2018 test set, in which the ASFOA performed the best overall, with average rankings of 1.621, 1.138, 1.483, and 1.966 in the four-dimensional cases, respectively. Then the convergence and robustness of ASFOA is verified on the CEC2022 test set. The experimental results indicate that the proposed ASFOA is a competitive metaheuristic algorithm variant with excellent performance in terms of convergence and distribution of solutions. In addition, we further validate the ability of ASFOA to solve real optimization problems. The average ranking of the proposed ASFOA on 10 engineering constrained optimization problems is 1.500. In summary, ASFOA is a promising variant of metaheuristic algorithms. Full article

Facial expression plays an important role in human–computer interaction and affective computing. However, existing expression recognition methods cannot effectively capture multi-scale structural details contained in facial expressions, leading to a decline in recognition accuracy. Inspired by the multi-scale processing mechanism of the biological visual system, this paper proposes a wavelet-guided global–local feature aggregation network (WGGLFA) for facial expression recognition (FER). Our WGGLFA network consists of three main modules: the scale-aware expansion (SAE) module, which combines dilated convolution and wavelet transform to capture multi-scale contextual features; the structured local feature aggregation (SLFA) module based on facial keypoints to extract structured local features; and the expression-guided region refinement (ExGR) module, which enhances features from high-response expression areas to improve the collaborative modeling between local details and key expression regions. All three modules utilize the spatial frequency locality of the wavelet transform to achieve high-/low-frequency feature separation, thereby enhancing fine-grained expression representation under frequency domain guidance. Experimental results show that our WGGLFA achieves accuracies of 90.32%, 91.24%, and 71.90% on the RAF-DB, FERPlus, and FED-RO datasets, respectively, demonstrating that our WGGLFA is effective and has more capability of robustness and generalization than state-of-the-art (SOTA) expression recognition methods. Full article