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Machines
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Intelligent Bio-Inspired Robots: New Trends and Future Perspectives
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Intelligent Bio-Inspired Robots: New Trends and Future Perspectives

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Robotics, Mechatronics and Intelligent Machines".

Deadline for manuscript submissions: closed (31 May 2024) | Viewed by 11634

Special Issue Editors

Dr. Carlo De Benedictis

E-Mail Website
Guest Editor
Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, Italy
Interests: exoskeletons; mechatronics; pneumatics; human motion; postural control; biomechanics; mechanisms; motion analysis
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Carlo Ferraresi

E-Mail Website
Guest Editor
Department of Mechanical and Aerospace Engineering DIMEAS, Politecnico di Torino, 10129 Turin, Italy
Interests: robotics; mechatronics; industrial automation; fluid power transmissions; biomechanics; biomedical engineering
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Recent research has shown that robotics can take advantage of and widen its intervention spaces through the implementation of strategies and mechanisms derived from biological systems.

By understanding the principles behind biological, biochemical, and biomechanical processes, the design of new components and devices can lead to more human-friendly systems, also through soft or reconfigurable structures, as well as smarter and more energy-efficient architectures than conventional ones.

The coexistence and cooperation between humans and robots can thus be significantly improved through bio-inspired design, which may involve a search for more effective locomotion systems, advanced materials, the application of artificial intelligence algorithms inspired by nature, etc.

However, the observation of living nature can also lead to the development of biomimetic robots designed for a more effective and respectful exploration of all terrestrial environments and beyond.

In such a complex and diversified framework, this Special Issue aims to present an overview of new trends and results in the study and development of intelligent and bio-inspired robots. Topics may include (but are not limited to):

  • Mechanical and mechatronic design of bio-inspired robots;
  • Biomimetic approaches in design and manufacturing;
  • Human–robot physical interaction;
  • Cognitive robots;
  • Underwater and space robots;
  • Bioinspired and swarm robotic systems;
  • Exoskeletons;
  • Prostheses;
  • Haptic devices;
  • Biomechanics;
  • Anthropomorphic limbs;
  • Humanoid and service robots;
  • Biomimetic robots;
  • Medical robotics.

Particular attention is given to the outcomes of experimental research; however, theoretical papers detailing modelling approaches and feasibility studies are also encouraged for submission.

Dr. Carlo De Benedictis
Prof. Dr. Carlo Ferraresi
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Machines is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • intelligent robots
  • bio-inspired robotics
  • soft robotics
  • biomimetics
  • biomechanics
  • human–machine interaction
  • artificial intelligence

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Further information on MDPI's Special Issue policies can be found here.

Published Papers (5 papers)

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Research

14 pages, 5333 KiB  
Article
Response Surface Methodology for Kinematic Design of Soft Pneumatic Joints: An Application to a Bio-Inspired Scorpion-Tail-Actuator
by Michele Gabrio Antonelli, Pierluigi Beomonte Zobel and Nicola Stampone
Machines 2024, 12(7), 439; https://doi.org/10.3390/machines12070439 - 26 Jun 2024
Cited by 2 | Viewed by 1643
Abstract
In soft robotics, the most used actuators are soft pneumatic actuators because of their simplicity, cost-effectiveness, and safety. However, pneumatic actuation is also disadvantageous because of the strong non-linearities associated with using a compressible fluid. The identification of analytical models is often complex, [...] Read more.
In soft robotics, the most used actuators are soft pneumatic actuators because of their simplicity, cost-effectiveness, and safety. However, pneumatic actuation is also disadvantageous because of the strong non-linearities associated with using a compressible fluid. The identification of analytical models is often complex, and finite element analyses are preferred to evaluate deformation and tension states, which are computationally onerous. Alternatively, artificial intelligence algorithms can be used to follow model-free and data-driven approaches to avoid modeling complexity. In this work, however, the response surface methodology was adopted to identify a predictive model of the bending angle for soft pneumatic joints through geometric and functional parameters. The factorial plan was scheduled based on the design of the experiment, minimizing the number of tests needed and saving materials and time. Finally, a bio-inspired application of the identified model is proposed by designing the soft joints and making an actuator that replicates the movements of the scorpion’s tail in the attack position. The model was validated with two external reinforcements to achieve the same final deformation at different feeding pressures. The average absolute errors between predicted and experimental bending angles for I and II reinforcement allowed the identified model to be verified. Full article
(This article belongs to the Special Issue Intelligent Bio-Inspired Robots: New Trends and Future Perspectives)
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15 pages, 4434 KiB  
Article
Preliminary Testing of a Passive Exoskeleton Prototype Based on McKibben Muscles
by Maria Paterna, Carlo De Benedictis and Carlo Ferraresi
Machines 2024, 12(6), 388; https://doi.org/10.3390/machines12060388 - 5 Jun 2024
Cited by 1 | Viewed by 1417
Abstract
Upper-limb exoskeletons for industrial applications can enhance the comfort and productivity of workers by reducing muscle activity and intra-articular forces during overhead work. Current devices typically employ a spring-based mechanism to balance the gravitational torque acting on the shoulder. As an alternative, this [...] Read more.
Upper-limb exoskeletons for industrial applications can enhance the comfort and productivity of workers by reducing muscle activity and intra-articular forces during overhead work. Current devices typically employ a spring-based mechanism to balance the gravitational torque acting on the shoulder. As an alternative, this paper presents the design of a passive upper-limb exoskeleton based on McKibben artificial muscles. The interaction forces between the exoskeleton and the user, as well as the mechanical resistance of the exoskeleton structure, were investigated to finalize the design of the device prior to its prototyping. Details are provided about the solutions adopted to assemble, wear, and regulate the exoskeleton’s structure. The first version of the device weighing about 5.5 kg was manufactured and tested by two users in a motion analysis laboratory. The results of this study highlight that the exoskeleton can effectively reduce the activation level of shoulder muscles without affecting the lumbar strain. Full article
(This article belongs to the Special Issue Intelligent Bio-Inspired Robots: New Trends and Future Perspectives)
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15 pages, 6513 KiB  
Article
Synthesis and Prototyping of a Sit-to-Stand Assisting Device
by Pierluigi Rea, Maurizio Ruggiu and Erika Ottaviano
Machines 2024, 12(1), 33; https://doi.org/10.3390/machines12010033 - 3 Jan 2024
Cited by 2 | Viewed by 1916
Abstract
Assistive and rehabilitation technologies deal with solutions aiming at sustaining or enhancing individual’s capabilities and autonomy, thereby improving their overall welfare. In the framework of devices developed for daily life activities, we focus our attention on Sit-to-Stand (STS) devices, by proposing an innovative [...] Read more.
Assistive and rehabilitation technologies deal with solutions aiming at sustaining or enhancing individual’s capabilities and autonomy, thereby improving their overall welfare. In the framework of devices developed for daily life activities, we focus our attention on Sit-to-Stand (STS) devices, by proposing an innovative solution based on a mechanism that has been synthesized, designed, built and tested as a prototype version for accomplishing the task. The developed mechatronic system serves the requested motions of standing and sitting, possessing the main features of compactness and customization for being embedded in chairs and conventional seats, according to a procedure that will be detailed in the paper. A simulation in a realistic scenario using a 3D model of an individual was carried out to size and verify the mechanical design and actuation. The mechatronic design of the system and its operations were reported using a laboratory prototype to show its engineering soundness and first experimental tests. Full article
(This article belongs to the Special Issue Intelligent Bio-Inspired Robots: New Trends and Future Perspectives)
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15 pages, 24734 KiB  
Article
Soft Robot for Inspection Tasks Inspired on Annelids to Obtain Peristaltic Locomotion
by Diego E. Martinez-Sanchez, X. Yamile Sandoval-Castro, Nicolas Cruz-Santos, Eduardo Castillo-Castaneda, Maximiano F. Ruiz-Torres and Med Amine Laribi
Machines 2023, 11(8), 779; https://doi.org/10.3390/machines11080779 - 27 Jul 2023
Cited by 6 | Viewed by 2284
Abstract
Soft robotics is a rapidly advancing field that leverages the mechanical properties of flexible materials for applications necessitating safe interaction and exceptional adaptability within the environment. This paper focuses on developing a pneumatic soft robot bio-inspired in annelids or segmented worms. Segmentation, also [...] Read more.
Soft robotics is a rapidly advancing field that leverages the mechanical properties of flexible materials for applications necessitating safe interaction and exceptional adaptability within the environment. This paper focuses on developing a pneumatic soft robot bio-inspired in annelids or segmented worms. Segmentation, also called metamerism, increases the efficiency in body movement by allowing the effect of muscle contraction to generate peristaltic locomotion. The robot was built using elastomers by the casting technique. A sequence of locomotion based on two stages, relaxation and contraction, was proposed; the contraction stage is actuated by a vacuum pump. The locomotion performances are compared using different elastomers, such as Ecoflex 00-30, Dragon Skin 20, Mold Star 15 Slow, and Mold Star 30. Experimental tests were carried out inside a plexiglass pipe, 1 inch in diameter; a wide range of frequencies was tested for relaxation and contraction stages to evaluate the effect on the speed of the robot. Full article
(This article belongs to the Special Issue Intelligent Bio-Inspired Robots: New Trends and Future Perspectives)
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21 pages, 16883 KiB  
Article
Torque-Based Control of a Bio-Inspired Modular Climbing Robot
by Carlos Prados, Miguel Hernando, Ernesto Gambao and Alberto Brunete
Machines 2023, 11(7), 757; https://doi.org/10.3390/machines11070757 - 19 Jul 2023
Cited by 3 | Viewed by 2923
Abstract
This article presents a generalizable, low computational cost, simple, and fast gravity compensation method for legged robots with a variable number of legs. It is based on the static problem, which is a reduction in the dynamic model of the robot that takes [...] Read more.
This article presents a generalizable, low computational cost, simple, and fast gravity compensation method for legged robots with a variable number of legs. It is based on the static problem, which is a reduction in the dynamic model of the robot that takes advantage of the low velocity of climbing robots. To solve it, we propose a method that computes the torque to be applied by each actuator to compensate for the gravitational forces without using the Jacobian matrix for the forces exerted by the end-effector and without using analytical methods for the gravitational components of the model. We compare our method with the most popular method and conclude that ours is twice as fast. Using the proposed gravity compensator, we present a torque-based PD controller for the position of the leg modules, and a body velocity control without dynamic compensation. In addition, we validate the method with both hardware and a simulated version of the ROMERIN robot, a modular legged and climbing robot. Furthermore, we compare our controller with the usual kinematic inverse controllers, demonstrating that the mean angular and linear error is significantly reduced, as well as the power requirements of the actuators. Full article
(This article belongs to the Special Issue Intelligent Bio-Inspired Robots: New Trends and Future Perspectives)
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