Search Results (27)

In vitro testing of ventricular assist devices, constructing a mock circulation system that reproduces physiological cardiac function, is critical. However, current ventricular simulators often lack biomimetic fidelity and may introduce hemolysis and coagulation risks during prolonged operation, affecting hemocompatibility assessment. This study proposes a motor-driven torsional 3D-printed left ventricular simulator to reconstruct the hemodynamics of severe heart failure and related pathological conditions. The system integrates a 3D-printed elastic ventricular model with programmable torsional actuation, allowing the simulation of various cardiac conditions by adjusting the motor torsion angle and rotational speed, peripheral resistance and compliance. Fresh porcine blood was circulated for 4 h in a closed-loop system, with periodic measurements of plasma-free hemoglobin (PfHb), thrombin–antithrombin complex (TAT), and P-selectin. The results show that the system successfully reproduces typical hemodynamic features of severe heart failure, while hemolysis and coagulation markers remain low. After 4 h, PfHb was below 20 mg/dL, with no significant platelet activation or thrombosis. This study demonstrates that the proposed system enhances biomimicry while maintaining excellent hemocompatibility, offering a reliable platform for in vitro performance and safety evaluation of ventricular assist devices. Full article

Schwann cells (SCs) are central players in peripheral nerve repair, facilitating axonal regrowth, remyelination, and modulation of the regenerative microenvironment. A pivotal driver of these functions is intracellular Ca²⁺ signaling, regulated by both endogenous Ca²⁺-permeable ion channels and engineered optogenetic actuators. Recent developments in optogenetics, particularly the application of Ca²⁺-permeable channelrhodopsins such as CapChR2, have enabled precise, light-controlled activation of SCs, allowing for targeted investigation of Ca²⁺-dependent pathways in non-neuronal cells. This review synthesizes emerging evidence demonstrating that optogenetically or endogenously induced Ca²⁺ influx in SCs leads to the release of a diverse set of neurotrophic and regulatory factors. These Ca²⁺-triggered secretomes modulate SC phenotypes and surrounding neurons, orchestrating axon regeneration and myelin repair via autocrine and paracrine mechanisms. We further discuss the roles of key endogenous Ca²⁺ channels—including transient receptor potential (TRP) channels and store-operated Ca²⁺ entry (SOCE; STIM/Orai)—in orchestrating SC activation under physiological and injury-induced conditions. By integrating insights from optogenetic manipulation and intrinsic signaling biology, this review proposes a conceptual framework in which Ca²⁺-triggered SC secretomes act as structural and functional scaffolds for nerve repair. We highlight how SC-derived factors shape the regenerative niche, influence adjacent neurons and glia, and modulate repair processes in peripheral and autonomic nerves. Full article

This paper presents the development of the hardware and software architecture of a sixdegrees of freedom (DOF) parallel robot (PARA-SILSROB) by illustrating all the stages undertaken to achieve the experimental model of the robot. Based on the experimental model, the control architecture is also presented, which is primarily based on a master–slave control system through which the surgeon controls the robot using the master console composed of commercial peripheral components (two 3D Space Mouse devices, computer, and keyboard) integrated with the solution developed in this study and presented in this paper. The robot was developed also according to the surgical protocol and surgeon’s requirements, and for the functionality testing of the mechanical structure, two experimental stands were used. The first stand presented several surgical steps, such as manipulation, resection, and suture of experimental tissues (simulating real-life robot-assisted surgical maneuvers) using commercial instruments. The second stand presented a simulation of an esophagectomy for esophageal cancer and digestive reconstruction through a right intercostal approach. For this testing phase, the organs were created using 3D reconstruction, and their simplified models were 3D printed using PolyJet technology. Furthermore, the input trajectory generated using the master console was compared with the robot actuator’s movements and the obtained results were used for validation of the proposed robot control system. Full article

Bioinspired approaches tend to mimic some biological functions for the purpose of creating more efficient and robust systems. These can be implemented in both software and hardware designs. A neuromorphic software part can include, for example, Spiking Neural Networks (SNNs) or event-based representations. Regarding the hardware part, we can find different sensory systems, such as Dynamic Vision Sensors, touch sensors, and actuators, which are linked together through specific interface boards. To run real-time SNN models, specialised hardware such as SpiNNaker, Loihi, and TrueNorth have been implemented. However, neuromorphic computing is still in development, and neuromorphic platforms are still not easily accessible to researchers. In addition, for Neuromorphic Robotics, we often need specially designed and fabricated PCBs for communication with peripheral components and sensors. Therefore, we developed an all-in-one neuromorphic system that emulates neuromorphic computing by running a Virtual Machine on a conventional low-power CPU. The Virtual Machine includes Python and Brian2 simulation packages, which allow the running of SNNs, emulating neuromorphic hardware. An additional, significant advantage of using conventional hardware such as Raspberry Pi in comparison to purpose-built neuromorphic hardware is that we can utilise the built-in physical input–output (GPIO) and USB ports to directly communicate with sensors. As a proof of concept platform, a robotic goalkeeper has been implemented, using a Raspberry Pi 5 board and SNN model in Brian2. All the sensors, namely DVS128, with an infrared module as the touch sensor and Futaba S9257 as the actuator, were linked to a Raspberry Pi 5 board. We show that it is possible to simulate SNNs on a conventional low-power CPU running real-time tasks for low-latency and low-power robotic applications. Furthermore, the system excels in the goalkeeper task, achieving an overall accuracy of 84% across various environmental conditions while maintaining a maximum power consumption of 20 W. Additionally, it reaches 88% accuracy in the online controlled setup and 80% in the offline setup, marking an improvement over previous results. This work demonstrates that the combination of a conventional low-power CPU running a Virtual Machine with only selected software is a viable competitor to neuromorphic computing hardware for robotic applications. Full article

Chronic total occlusion (CTO) is one of the most severe and sophisticated vascular stenosis because of complete blockage, greater operation difficulty, and lower procedural success rate. This study proposes a hydraulic-driven soft robot imitating the earthworm’s locomotion to assist doctors or operators in actively opening thrombi in coronary or peripheral artery vessels. Firstly, a three-actuator bionic soft robot is developed based on earthworms’ physiological structure. The soft robot’s locomotion gait inspired by the earthworm’s mechanism is designed. Secondly, the influence of structure parameters on actuator deformation, stress, and strain is explored, which can help us determine the soft actuators’ optimal structure parameters. Thirdly, the relationship between hydraulic pressure and actuator deformation is investigated by performing finite element analysis using the bidirectional fluid–structure interaction (FSI) method. The kinematic models of the soft actuators are established to provide a valuable reference for the soft actuators’ motion control. Full article

Background and Objectives: After major upper-limb amputation, people face challenges due to losing tactile information and gripping function in their hands. While vision can confirm the success of an action, relying on it diverts attention from other sensations and tasks. This case report presents a 30-year-old man with traumatic, complete vision loss and transradial left forearm amputation. It emphasizes the importance of restoring tactile abilities when visual compensation is impossible. Materials and Methods: A prototype tactile feedback add-on system was developed, consisting of a sensor glove and upper arm cuff with related vibration actuators. Results: We found a 66% improvement in the Box and Blocks test and an overall functional score increase from 30% to 43% in the Southampton Hand Assessment Procedure with feedback. Qualitative improvements in bimanual activities, ergonomics, and reduced reliance on the unaffected hand were observed. Incorporating the tactile feedback system improved the precision of grasping and the utility of the myoelectric hand prosthesis, freeing the unaffected hand for other tasks. Conclusions: This case demonstrated improvements in prosthetic hand utility achieved by restoring peripheral sensitivity while excluding the possibility of visual compensation. Restoring tactile information from the hand and fingers could benefit individuals with impaired vision and somatosensation, improving acceptance, embodiment, social integration, and pain management. Full article

Background: Hydraulic quadruped robots have broad application prospects. Control system design is the core content of robot design. However, the micro-controllers used in the past have shortcomings such as long sampling period and simple algorithm. Methods: An electric control system of the layered, distributed structure for hydraulically actuated quadruped robots is designed considering a dog as a bionic model. In order to improve the response time and the steady precision of the system at the same time, a Fuzzy–PID compound control algorithm is put forward in this paper. The hardware and software of the control system are designed. Results: The lower computer’s control system for hydraulically actuated quadruped robots is developed using TMS320F28335 in series of DSP2000 as the core processor. Outside control circuit expands some external chips, such as AD7606, AD5754R, and PCA82C250, and a peripheral interface circuit is designed. Taking full advantage of the efficient processing power of the chip and the rich on-chip resources, the hardware circuit is simpler and reliable, and the software is also easy to implement. It is verified that the control system is rational and effective using experiments. Conclusions: The experimental results show that the control system designed in this paper is reasonable and can effectively control the joints of the quadruped robot. It has strong scalability and can meet the basic requirements of the autonomous mobile robot control system. Full article

This study designs and implements a wheeled bipedal robot (WBR) that combines the mobility of wheeled robots and the dexterity of legged robots. The designed WBR has extra knee joints to maintain body balance when encountering uneven terrain. Because of the robot’s highly nonlinear, dynamic, unstable, and under-actuated nature, an intelligent motion and balance controller (IMBC) based on a fuzzy logic approach is proposed to maintain the balance of the WBR while it is standing and moving on the ground. It should be emphasized that the proposed IMBC system does not require prior knowledge of system dynamics and the controller parameters are tuned using the qualitative aspects of human knowledge. Furthermore, a 32-bit microcontroller that has memory, programmable I/O peripherals, and a processor core is used to implement the IMBC method. Finally, moving and rotating, height-changing, posture-keeping, and “one leg on slope” movement scenarios are tested to demonstrate the feasibility of the proposed IMBC system. The experimental results show that, by using the proposed IMBC system, the WBR can not only balance and move well both on flat ground and in complex terrain but also extend each leg independently to maintain body balance. Full article

Nowadays, vehicle industries are trying to introduce actively controllable variable valve trains to achieve maximumly efficient internal combustion engines. The electromagnetic valve train (EMV) is one of the promising valve actuators. A traditional electromagnet valve needs to be continuously supplied with current and consumes more energy during valve opening and closing, and the permanent magnet-assisted valves have a demagnetization issue. Thus, this study presents a hybrid permanent magnet electromagnetic valve (PMEMV), which needs a power supply only for a short interval of time during valve opening or closing; eventually, this PMEMV consumes much less energy than conventional EMVs. This paper proposed an improved control approach for this hybrid PMEMV to achieve variable valve actuation. Magnetic stimulation was performed on the proposed valve train to analyze the direction of the magnetic circuit during the valve actuation. An improved magnetic circuit control method was introduced to achieve the release and attraction of the armature. This innovative magnetic circuit control can make the armature effectively attract at each apex, so that the PMEMV can be effectively and completely actuated. The prototype of the valve train and the experimental platform were developed to test and validate the real-time performance of the composite EM valve. Peripheral sensor components were used to measure the valve displacement. The experimental results proved that the concept of the innovative magnetic-circuit drive and control can enable the successful operation of the hybrid compound EM valve. Full article

The development of devices for the Internet of Things (IoT) requires the rapid prototyping of different hardware configurations. In this paper, a modular hardware platform allowing to prototype, test and even implement IoT appliances on low-cost reconfigurable devices is presented. The proposed platform, named Dracon, includes a Z80-clone microprocessor, up to 64 KB of RAM, and 256 inputs/outputs (I/Os). These I/Os can be used to connect additional co-processors within the same FPGA, external co-processors, communications modules, sensors and actuators. Dracon also includes as default peripherals a UART for programming and accessing the microprocessor, a Real Time Clock, and an Interrupt Timer. The use of an 8-bit microprocessor allows the use of the internal memory of the reconfigurable device as program memory, thereby, enabling the implementation of a complete IoT device within a single low-cost chip. Indeed, results using a Spartan 7 FPGA show that it is possible to implement Dracon with only 1515 6-input LUTs while operating at a maximum frequency of 80 MHz, which results in a better trade-off in terms of area and performance than other less powerful and less versatile alternatives in the literature. Moreover, the presented platform allows the development of embedded software applications independently of the selected FPGA device, enabling rapid prototyping and implementations on devices from different manufacturers. Full article

Leukemia is a non-solid cancer which features the malignant proliferation of leukocytes. Excessive leukocytes of lesions in peripheral blood will infiltrate organs, resulting in intumescence and weakening treatment efficiency. In this study, we proposed a novel approach for targeted clearance of the leukocytes in the peripheral blood ex vivo, which employed magnetic nanochains to selectively destroy the leukocytes of the lesions. The nanochains were doxorubicin-loaded nanochains of Fe₃O₄ nanoparticles which were fabricated by the solvent exchange method combined with magnetic field-directed self-assembly. Firstly, the nanochains were added into the peripheral blood during extracorporeal circulation and subjected to a rotational magnetic field for actuation. The leukocytes of the lesion were then conjugated by the nanochains via folic acid (FA) targeting. Finally, the rotational magnetic field actuated the nanochains to release the drugs and effectively damage the cytomembrane of the leukocytes. This strategy was conceptually shown in vitro (K562 cell line) and the method’s safety was evaluated in a rat model. The preliminary results demonstrate that the nanochains are biocompatible and suitable as drug carriers, showing direct lethal action to the leukemic cells combined with a rotational magnetic field. More importantly to note is that the nanochains can be effectively kept from entry into the body. We believe this extracorporeal circulation-based strategy by activating nanochains magnetically could serve as a potential method for leukemia treatment in the future. Full article

Detonation waves released by energetic materials provide an important means of physical self-destruction (Psd) for information storage chips (ISCs) in the information insurance field and offer advantages that include a rapid response and low driving energy. The high electrical sensitivity of energetic materials means that they are easily triggered by leakage currents and electrostatic forces. Therefore, a Psd module based on a graphene-based insurance actuator heterogeneously integrated with energetic materials is proposed. First, the force–balance relation between the electrostatic van der Waals force and the elastic recovery force of the insurance actuator’s graphene electrode is established to realize physical isolation and an electrical interconnection between the energetic materials and the peripheral electrical systems. Second, a numerical analysis of the detonation wave stress of the energetic materials in the air domain is performed, and the copper azide dosage required to achieve reliable ISC Psd is obtained. Third, the insurance actuator is prepared via graphene thin film processing and copper azide is prepared via an in situ reaction. The experimental results show that the energetic materials proposed can release physical isolation within 14 μs and can achieve ISC Psd under the application of a voltage signal (4.4–4.65 V). Copper azide (0.45–0.52 mg) can achieve physical damage over an ISC area (23.37–35.84 mm²) within an assembly gap (0.05–0.25 mm) between copper azide and ISC. The proposed method has high applicability for information insurance. Full article

In recent decades, many researchers have focused on the design and development of exoskeletons. Several strategies have been proposed to develop increasingly more efficient and biomimetic mechanisms. However, existing exoskeletons tend to be expensive and only available for a few people. This paper introduces a new gravity-balanced upper-limb exoskeleton suited for rehabilitation applications and designed with the main objective of reducing the cost of the components and materials. Regarding mechanics, the proposed design significantly reduces the motor torque requirements, because a high cost is usually associated with high-torque actuation. Regarding the electronics, we aim to exploit the microprocessor peripherals to obtain parallel and real-time execution of communication and control tasks without relying on expensive RTOSs. Regarding sensing, we avoid the use of expensive force sensors. Advanced control and rehabilitation features are implemented, and an intuitive user interface is developed. To experimentally validate the functionality of the proposed exoskeleton, a rehabilitation exercise in the form of a pick-and-place task is considered. Experimentally, peak torques are reduced by 89% for the shoulder and by 84% for the elbow. Full article

Accurate knowledge of the delivery of locally acting drug products, such as metered-dose inhaler (MDI) formulations, to large and small airways is essential to develop reliable in vitro/in vivo correlations (IVIVCs). However, challenges exist in modeling MDI delivery, due to the highly transient multiscale spray formation, the large variability in actuation–inhalation coordination, and the complex lung networks. The objective of this study was to develop/validate a computational MDI-releasing-delivery model and to evaluate the device actuation effects on the dose distribution with the newly developed model. An integrated MDI–mouth–lung (G9) geometry was developed. An albuterol MDI with the chlorofluorocarbon propellant was simulated with polydisperse aerosol size distribution measured by laser light scatter and aerosol discharge velocity derived from measurements taken while using a phase Doppler anemometry. The highly transient, multiscale airflow and droplet dynamics were simulated by using large eddy simulation (LES) and Lagrangian tracking with sufficiently fine computation mesh. A high-speed camera imaging of the MDI plume formation was conducted and compared with LES predictions. The aerosol discharge velocity at the MDI orifice was reversely determined to be 40 m/s based on the phase Doppler anemometry (PDA) measurements at two different locations from the mouthpiece. The LES-predicted instantaneous vortex structures and corresponding spray clouds resembled each other. There are three phases of the MDI plume evolution (discharging, dispersion, and dispensing), each with distinct features regardless of the actuation time. Good agreement was achieved between the predicted and measured doses in both the device, mouth–throat, and lung. Concerning the device–patient coordination, delayed MDI actuation increased drug deposition in the mouth and reduced drug delivery to the lung. Firing MDI before inhalation was found to increase drug loss in the device; however, it also reduced mouth–throat loss and increased lung doses in both the central and peripheral regions. Full article

Wearable devices are gaining recognition for their use as a biosensor platform. Electrical impedance tomography (EIT) is one of the sensing techniques that utilizes wearable sensors as its primary data acquisition system. It measures the impedance or resistance at the peripheral (skin) level and calculates the conductivity distribution throughout the body. Even though the technology has existed for several decades, modern-day EIT devices are still costly and bulky. The paper proposes a novel low-cost kirigami-based wearable device that has soft PEDOT: PSS electrodes for sensing skin impedances. Simulation results show that the proposed kirigami structure for the bracelet has a large deformation during actuation while experiencing relatively lower stress. The paper also presents a comparative study on a few machine learning algorithms to classify hand gestures, based on the measured skin impedance. The best classification accuracy (91.49%) was observed from the quadratic support vector machine (SVM) algorithm with 48 principal components. Full article