Tag Archives: artificial muscles

Robotics where and how you don’t expect them: a wearable robot and a robot implant for regeneration

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Generally I  expect robots to be machines that are external to my body but recently there were two news bits about some different approaches. First, the wearable robot.

A robot that supports your hip

A January 10, 2018 news item on ScienceDaily describes research into muscles that can be worn,

Scientists are one step closer to artificial muscles. Orthotics have come a long way since their initial wood and strap designs, yet innovation lapsed when it came to compensating for muscle power — until now.

A collaborative research team has designed a wearable robot to support a person’s hip joint while walking. The team, led by Minoru Hashimoto, a professor of textile science and technology at Shinshu University in Japan, published the details of their prototype in Smart Materials and Structures, a journal published by the Institute of Physics.

A January 9, 2018 Shinshu University press release on EurekAlert, which originated the news item, provides more detail,

“With a rapidly aging society, an increasing number of elderly people require care after suffering from stroke, and other-age related disabilities. Various technologies, devices, and robots are emerging to aid caretakers,” wrote Hashimoto, noting that several technologies meant to assist a person with walking are often cumbersome to the user. “[In our] current study, [we] sought to develop a lightweight, soft, wearable assist wear for supporting activities of daily life for older people with weakened muscles and those with mobility issues.”

The wearable system consists of plasticized polyvinyl chloride (PVC) gel, mesh electrodes, and applied voltage. The mesh electrodes sandwich the gel, and when voltage is applied, the gel flexes and contracts, like a muscle. It’s a wearable actuator, the mechanism that causes movement.

“We thought that the electrical mechanical properties of the PVC gel could be used for robotic artificial muscles, so we started researching the PVC gel,” said Hashimoto. “The ability to add voltage to PVC gel is especially attractive for high speed movement, and the gel moves with high speed with just a few hundred volts.”

In a preliminary evaluation, a stroke patient with some paralysis on one side of his body walked with and without the wearable system.

“We found that the assist wear enabled natural movement, increasing step length and decreasing muscular activity during straight line walking,” wrote Hashimoto. The researchers also found that adjusting the charge could change the level of assistance the actuator provides.

The robotic system earned first place in demonstrations with their multilayer PVC gel artificial muscle at the, “24th International Symposium on Smart Structures and Materials & Nondestructive Evaluation and Health Monitoring” for SPIE the international society for optics and photonics.

Next, the researchers plan to create a string actuator using the PVC gel, which could potentially lead to the development of fabric capable of providing more manageable external muscular support with ease.

Here’s a link to and a citation for the paper,

PVC gel soft actuator-based wearable assist wear for hip joint support during walking by Yi Li and Minoru Hashimoto. Smart Materials and Structures, Volume 26, Number 12 DOI: 10.1088/1361-665X/aa9315 Published 30 October 2017

© 2017 IOP Publishing Ltd

This paper is behind a paywall and I see it was published in the Fall of 2017. Either they postponed the publicity or this is the second wave. In any event, it was timely as it allowed me to post this along with the robotic research on regeneration.

Robotic implants and tissue regeneration

Boston Children’s Hospital in a January 10, 2018 news release on EurekAlert describes a new (to me) method for tissue regeneration,

An implanted, programmable medical robot can gradually lengthen tubular organs by applying traction forces — stimulating tissue growth in stunted organs without interfering with organ function or causing apparent discomfort, report researchers at Boston Children’s Hospital.

The robotic system, described today in Science Robotics, induced cell proliferation and lengthened part of the esophagus in a large animal by about 75 percent, while the animal remained awake and mobile. The researchers say the system could treat long-gap esophageal atresia, a rare birth defect in which part of the esophagus is missing, and could also be used to lengthen the small intestine in short bowel syndrome.

The most effective current operation for long-gap esophageal atresia, called the Foker process, uses sutures anchored on the patient’s back to gradually pull on the esophagus. To prevent the esophagus from tearing, patients must be paralyzed in a medically induced coma and placed on mechanical ventilation in the intensive care unit for one to four weeks. The long period of immobilization can also cause medical complications such as bone fractures and blood clots.

“This project demonstrates proof-of-concept that miniature robots can induce organ growth inside a living being for repair or replacement, while avoiding the sedation and paralysis currently required for the most difficult cases of esophageal atresia,” says Russell Jennings, MD, surgical director of the Esophageal and Airway Treatment Center at Boston Children’s Hospital, and a co-investigator on the study. “The potential uses of such robots are yet to be fully explored, but they will certainly be applied to many organs in the near future.”

The motorized robotic device is attached only to the esophagus, so would allow a patient to move freely. Covered by a smooth, biocompatible, waterproof “skin,” it includes two attachment rings, placed around the esophagus and sewn into place with sutures. A programmable control unit outside the body applies adjustable traction forces to the rings, slowly and steadily pulling the tissue in the desired direction.

The device was tested in the esophagi of pigs (five received the implant and three served as controls). The distance between the two rings (pulling the esophagus in opposite directions) was increased by small, 2.5-millimeter increments each day for 8 to 9 days. The animals were able to eat normally even with the device applying traction to its esophagus, and showed no sign of discomfort.

On day 10, the segment of esophagus had increased in length by 77 percent on average. Examination of the tissue showed a proliferation of the cells that make up the esophagus. The organ also maintained its normal diameter.

“This shows we didn’t simply stretch the esophagus — it lengthened through cell growth,” says Pierre Dupont, PhD, the study’s senior investigator and Chief of Pediatric Cardiac Bioengineering at Boston Children’s.

The research team is now starting to test the robotic system in a large animal model of short bowel syndrome. While long-gap esophageal atresia is quite rare, the prevalence of short bowel syndrome is much higher. Short bowel can be caused by necrotizing enterocolitis in the newborn, Crohn’s disease in adults, or a serious infection or cancer requiring a large segment of intestine to be removed.

“Short bowel syndrome is a devastating illness requiring patients to be fed intravenously,” says gastroenterologist Peter Ngo, MD, a coauthor on the study. “This, in turn, can lead to liver failure, sometimes requiring a liver or multivisceral (liver-intestine) transplant, outcomes that are both devastating and costly.”

The team hopes to get support to continue its tests of the device in large animal models, and eventually conduct clinical trials. They will also test other features.

“No one knows the best amount of force to apply to an organ to induce growth,” explains Dupont. “Today, in fact, we don’t even know what forces we are applying clinically. It’s all based on surgeon experience. A robotic device can figure out the best forces to apply and then apply those forces precisely.”

Here’s a link to and a citation for the paper,

In vivo tissue regeneration with robotic implants by Dana D. Damian, Karl Price, Slava Arabagi, Ignacio Berra, Zurab Machaidze, Sunil Manjila, Shogo Shimada, Assunta Fabozzo, Gustavo Arnal, David Van Story, Jeffrey D. Goldsmith, Agoston T. Agoston, Chunwoo Kim, Russell W. Jennings, Peter D. Ngo, Michael Manfredi, and Pierre E. Dupont. Science Robotics 10 Jan 2018: Vol. 3, Issue 14, eaaq0018 DOI: 10.1126/scirobotics.aaq0018

This paper is behind a paywall.

From flubber to thubber

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Flubber (flying rubber) is an imaginary material that provided a plot point for two Disney science fiction comedies, The Absent-Minded Professor in 1961 which was remade in 1997 as Flubber. By contrast, ‘thubber’ (thermally conductive rubber) is a real life new material developed at Carnegie Mellon University (US).

A Feb. 13, 2017 news item on phys.org makes the announcement (Note: A link has been removed),

Carmel Majidi and Jonathan Malen of Carnegie Mellon University have developed a thermally conductive rubber material that represents a breakthrough for creating soft, stretchable machines and electronics. The findings were published in Proceedings of the National Academy of Sciences this week.

The new material, nicknamed “thubber,” is an electrically insulating composite that exhibits an unprecedented combination of metal-like thermal conductivity, elasticity similar to soft, biological tissue, and can stretch over six times its initial length.

A Feb.13, 2017 Carnegie Mellon University news release (also on EurekAlert), which originated the news item, provides more detail (Note A link has been removed),

“Our combination of high thermal conductivity and elasticity is especially critical for rapid heat dissipation in applications such as wearable computing and soft robotics, which require mechanical compliance and stretchable functionality,” said Majidi, an associate professor of mechanical engineering.

Applications could extend to industries like athletic wear and sports medicine—think of lighted clothing for runners and heated garments for injury therapy. Advanced manufacturing, energy, and transportation are other areas where stretchable electronic material could have an impact.

“Until now, high power devices have had to be affixed to rigid, inflexible mounts that were the only technology able to dissipate heat efficiently,” said Malen, an associate professor of mechanical engineering. “Now, we can create stretchable mounts for LED lights or computer processors that enable high performance without overheating in applications that demand flexibility, such as light-up fabrics and iPads that fold into your wallet.”

The key ingredient in “thubber” is a suspension of non-toxic, liquid metal microdroplets. The liquid state allows the metal to deform with the surrounding rubber at room temperature. When the rubber is pre-stretched, the droplets form elongated pathways that are efficient for heat travel. Despite the amount of metal, the material is also electrically insulating.

To demonstrate these findings, the team mounted an LED light onto a strip of the material to create a safety lamp worn around a jogger’s leg. The “thubber” dissipated the heat from the LED, which would have otherwise burned the jogger. The researchers also created a soft robotic fish that swims with a “thubber” tail, without using conventional motors or gears.

“As the field of flexible electronics grows, there will be a greater need for materials like ours,” said Majidi. “We can also see it used for artificial muscles that power bio-inspired robots.”

Majidi and Malen acknowledge the efforts of lead authors Michael Bartlett, Navid Kazem, and Matthew Powell-Palm in performing this multidisciplinary work. They also acknowledge funding from the Air Force, NASA, and the Army Research Office.

Here’s a link to and a citation for the paper,

High thermal conductivity in soft elastomers with elongated liquid metal inclusions by Michael D. Bartlett, Navid Kazem, Matthew J. Powell-Palm, Xiaonan Huang, Wenhuan Sun, Jonathan A. Malen, and Carmel Majidi.  Proceedings of the National Academy of Sciences of the United States of America (PNAS, Proceedings of the National Academy of Sciences) doi: 10.1073/pnas.1616377114

This paper is open access.

Are you sure my artificial muscles don’t smell like onions?

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A May 5, 2015 news item on ScienceDaily highlights some research on artificial muscles from the National Taiwan University,

Just one well-placed slice into a particularly pungent onion can send even the most seasoned chef running for a box of tissues. Now, this humble root vegetable is proving its strength outside the culinary world as well — in an artificial muscle created from onion cells. Unlike previous artificial muscles, this one, created by a group of researchers from National Taiwan University, can either expand or contract to bend in different directions depending on the driving voltage applied.

A May 5, 2015 American Institute of Physics (AIP) news release by Laurel Hamers,  which originated the news item, describes the research goals,

“The initial goal was to develop an engineered microstructure in artificial muscles for increasing the actuation deformation [the amount the muscle can bend or stretch when triggered],” said lead researcher Wen-Pin Shih. “One day, we found that the onion’s cell structure and its dimensions were similar to what we had been making.” Shih lead the study along with graduate student Chien-Chun Chen and their colleagues.

The onion epidermis — the fragile skin found just beneath the onion’s surface — is a thin, translucent layer of blocky cells arranged in a tightly-packed lattice. Shih and his colleagues thought that onion epidermal cells might be a viable candidate for the tricky task of creating a more versatile muscle that could expand or contract while bending. To date, Shih said, artificial muscles can either bend or contract, but not at the same time.

The researchers treated the cells with acid to remove the hemicellulose, a protein that makes the cell walls rigid. Then, they coated both sides of the onion layer with gold. When current flowed through the gold electrodes, the onion cells bent and stretched much like a muscle.

“We intentionally made the top and bottom electrodes a different thickness so that the cell stiffness becomes asymmetric from top to bottom,” said Shih. The asymmetry gave the researchers control over the muscle’s response: a low voltage made them expand and flex downwards, towards the thicker bottom layer. A high voltage, on the other hand, caused the cells to contract and flex upwards, towards the thinner top layer.

“We found that the single-layer lattice structure can generate unique actuation modes that engineered artificial muscle has never achieved before,” said Shih.

To demonstrate their device’s utility, the researchers combined two onion muscles into a pair of tweezers, which they used to pick up a cotton ball. In the future, they hope to increase the lifting power of their artificial muscles. “Our next step is to reduce the driving voltage and the actuating force,” said Shih.

Here’s a link to and a citation for the paper,

Onion artificial muscles by Chien-Chun Chen, Wen-Pin Shih, Pei-Zen Chang, Hsi-Mei Lai, Shing-Yun Chang, Pin-Chun Huang and Huai-An Jeng. Appl. Phys. Lett. 106, 183702 (2015); http://dx.doi.org/10.1063/1.4917498

This appears to be open access.

New hydrogels make greater elasticity in tissue engineering possible

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A team from Harvard University have developed a technique for creating hydrogels that could be used effective in tissue engineering projects. From the Sept. 5, 2012 news release on EurekAlert,

A team of experts in mechanics, materials science, and tissue engineering at Harvard have created an extremely stretchy and tough gel that may pave the way to replacing damaged cartilage in human joints.

Called a hydrogel, because its main ingredient is water, the new material is a hybrid of two weak gels that combine to create something much stronger. Not only can this new gel stretch to 21 times its original length, but it is also exceptionally tough, self-healing, and biocompatible—a valuable collection of attributes that opens up new opportunities in medicine and tissue engineering.

Here’s an image of the hydrogel provided by the researchers,

The researchers pinned both ends of the new gel in clamps and stretched it to 21 times its initial length before it broke. Credit: Photo courtesy of Jeong-Yun Sun

The Sept. 5, 2012 news item on ScienceDaily has some comments from the researcher,

“Conventional hydrogels are very weak and brittle — imagine a spoon breaking through jelly,” explains lead author Jeong-Yun Sun, a postdoctoral fellow at the Harvard School of Engineering and Applied Sciences (SEAS). “But because they are water-based and biocompatible, people would like to use them for some very challenging applications like artificial cartilage or spinal disks. For a gel to work in those settings, it has to be able to stretch and expand under compression and tension without breaking.”

To create the tough new hydrogel, they combined two common polymers. The primary component is polyacrylamide, known for its use in soft contact lenses and as the electrophoresis gel that separates DNA fragments in biology labs; the second component is alginate, a seaweed extract that is frequently used to thicken food.

Separately, these gels are both quite weak — alginate, for instance, can stretch to only 1.2 times its length before it breaks. Combined in an 8:1 ratio, however, the two polymers form a complex network of crosslinked chains that reinforce one another. The chemical structure of this network allows the molecules to pull apart very slightly over a large area instead of allowing the gel to crack.

The alginate portion of the gel consists of polymer chains that form weak ionic bonds with one another, capturing calcium ions (added to the water) in the process. When the gel is stretched, some of these bonds between chains break — or “unzip,” as the researchers put it — releasing the calcium. As a result, the gel expands slightly, but the polymer chains themselves remain intact. Meanwhile, the polyacrylamide chains form a grid-like structure that bonds covalently (very tightly) with the alginate chains.

Therefore, if the gel acquires a tiny crack as it stretches, the polyacrylamide grid helps to spread the pulling force over a large area, tugging on the alginate’s ionic bonds and unzipping them here and there. The research team showed that even with a huge crack, a critically large hole, the hybrid gel can still stretch to 17 times its initial length.

Importantly, the new hydrogel is capable of maintaining its elasticity and toughness over multiple stretches.

Anyone can see that the ability to stretch, self-heal and stretch mimics the body’s own processes and that materials which can mimic those processes are very promising. From the news item on ScienceDaily,

Beyond artificial cartilage, the researchers suggest that the new hydrogel could be used in soft robotics, optics, artificial muscle, as a tough protective covering for wounds, or “any other place where we need hydrogels of high stretchability and high toughness.”

If you’re interested, there are still more details in the news release on EurekAlert or in the news item on ScienceDaily.

Camouflage for everyone

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The Institute of Physics (IOP) journal, Bioinspiration and BIomimetics, has published an open access article on camouflage inspired by zebrafish and squid. From the IOP’s May 2, 2012 news release

Researchers from the University of Bristol have created artificial muscles that can be transformed at the flick of a switch to mimic the remarkable camouflaging abilities of organisms such as squid and zebrafish.

They demonstrate two individual transforming mechanisms that they believe could be used in ‘smart clothing’ to trigger camouflaging tricks similar to those seen in nature.

…

The soft, stretchy, artificial muscles are based on specialist cells called chromatophores that are found in amphibians, fish, reptiles and cephalopods, and contain pigments of colours that are responsible for the animals’ remarkable colour-changing effects.

Here’s the video mentioned in the IOP’s May 2, 2012 news release,

The lead author Jonathan Rossiter provides a description of the work (which may help you better understand what you’re seeing on the video), from the May 2, 2012 news item,

Two types of artificial chromatophores were created in the study: the first based on a mechanism adopted by a squid and the second based on a rather different mechanism adopted by zebrafish.

A typical colour-changing cell in a squid has a central sac containing granules of pigment. The sac is surrounded by a series of muscles and when the cell is ready to change colour, the brain sends a signal to the muscles and they contract. The contracting muscles make the central sacs expand, generating the optical effect which makes the squid look like it is changing colour.

The fast expansion of these muscles was mimicked using dielectric elastomers (DEs) – smart materials, usually made of a polymer, which are connected to an electric circuit and expand when a voltage is applied. They return to their original shape when they are short circuited.

In contrast, the cells in the zebrafish contain a small reservoir of black pigmented fluid that, when activated, travels to the skin surface and spreads out, much like the spilling of black ink. The natural dark spots on the surface of the zebrafish therefore appear to get bigger and the desired optical effect is achieved. The changes are usually driven by hormones.

The zebrafish cells were mimicked using two glass microscope slides sandwiching a silicone layer. Two pumps, made from flexible DEs, were positioned on both sides of the slide and were connected to the central system with silicone tubes; one pumping opaque white spirit, the other a mixture of black ink and water.

“Our artificial chromatophores are both scalable and adaptable and can be made into an artificial compliant skin which can stretch and deform, yet still operate effectively. This means they can be used in many environments where conventional ‘hard’ technologies would be dangerous, for example at the physical interface with humans, such as smart clothing,” continued Rossiter.

I wonder what these smart clothes/smart skin would feel like against your personal skin given that we are talking about ‘artificial muscles’. For example, how much movement would your clothing/smart skin have independent of you?

By independent, I mean that everything occurs externally. While we’re not ordinarily conscious of all our physical responses they are stimulated internally and part of a whole body response (even though we may notice only localized responses, e.g., a rash). In the research, there’s an external stimulus and an external response via smart clothes/smart skin.

This is just speculation as I imagine we’re several years away from any field testing of these smart clothes/smart skin, assuming that scientists are able to address all the technical hurdles between a laboratory breakthrough and developing applications.

Thanks to Nanowerk where I first came across this information (May 2, 2012 news item).