Pneumatic Quasi-Passive Actuation for Soft Assistive Lower Limbs Exoskeleton.

There is a growing international interest in developing soft wearable robotic devices to improve mobility and daily life autonomy as well as for rehabilitation purposes. Usability, comfort and acceptance of such devices will affect their uptakes in mainstream daily life. The XoSoft EU project developed a modular soft lower-limb exoskeleton to assist people with low mobility impairments.

A 13.56 MHz Rectifier Based on Fully Inkjet Printed Organic Diodes.

The increasing diffusion of portable and wearable technologies results in a growing interest in electronic devices having features such as flexibility, lightness-in-weight, transparency, and wireless operation. Organic electronics is proposed as a potential candidate to fulfill such needs, in particular targeting pervasive radio-frequency (RF) applications. Still, limitations in terms of device performances at RF, particularly severe when large-area and scalable fabrication techniques are employed, have largely precluded the achievement of such an appealing scenario.

Optimal control of plant root tip dynamics in soil.

This paper aims to propose a novel approach to model the dynamics of objects that move within the soil, e.g. plants roots.

Electrically-Conductive Polyketone Nanocomposites Based on Reduced Graphene Oxide.

In this work, we investigated the functionalization of polyketone 30 (PK30) with glycyl-glycine (Gly-Gly) via the Paal-Knorr reaction with the aim of homogenously dispersing two types of reduced graphene oxide (rGO, i.e., lrGO and hrGO, the former characterized by a lower degree of reduction in comparison to the latter) by non-covalent interactions.

HyLength: a semi-automated digital image analysis tool for measuring the length of roots and fungal hyphae of dense mycelia.

In plant-fungus phenotyping, determining fungal hyphal and plant root lengths by digital image analysis can reduce labour and increase data reproducibility. However, the degree of software sophistication is often prohibitive and manual measuring is still used, despite being very time-consuming. We developed the HyLength tool for measuring the lengths of hyphae and roots in in vivo and in vitro systems.

A novel microwave tool for robotic liver resection in minimally invasive surgery.

Introduction: During the last two decades, many surgical procedures have evolved from open surgery to minimally invasive surgery (MIS). This limited invasiveness has motivated the development of robotic assistance platforms to obtain better surgical outcomes. Nowadays, the da Vinci robot is a commercial tele-robotic platform widely used for different surgical applications.

Mechanical Sensing for Lower Limb Soft Exoskeletons: Recent Progress and Challenges.

Soft exoskeletons hold promise for facilitating monitoring and assistance in case of light impairment and for prolonging independent living. In contrast to rigid material-based exoskeletons, they strongly demand for new approaches of soft sensing and actuation solutions. This chapter overviews soft exoskeletons in contrast to rigid exoskeletons and focuses on the recent advancements on the movement monitoring in lower limb soft exoskeletons.

Taking inspiration from climbing plants: methodologies and benchmarks-a review.

One of the major challenges in robotics and engineering is to develop efficient technological solutions that are able to cope with complex environments and unpredictable constraints. Taking inspiration from natural organisms is a well-known approach to tackling these issues. Climbing plants are an important, yet innovative, source of inspiration due to their ability to adapt to diverse habitats, and can be used as a model for developing robots and smart devices for exploration and monitoring, as well as for search and rescue operations.

The role of hairs in the adhesion of octopus suckers: a hierarchical peeling approach.

Organisms like the octopus or the clingfish are a precious source of inspiration for the design of innovative adhesive systems based on suction cups, but a complete mechanical description of their attachment process is still lacking. In this paper, we exploit the recent discovery of the presence of hairs in the acetabulum roof of octopus suction cups to revise the current model for its adhesion to the acetabulum wall. We show how this additional feature, which can be considered an example of a hierarchical structure, can lead to an increase of adhesive strength, based on the analysis of the cases of a simple tape and an axisymmetrical membrane adhering to a substrate.

Tandem electrospinning for heterogeneous nanofiber patterns.

Smart nanofibrillar constructs can be a promising technological solution for many emerging and established fields, facilitating the potential impact of nano-scale strategies to address relevant technological challenges. As a fabrication technique, electrospinning (ESP) is relatively well-known, accessible, economic, and fast, though until now has shown limitation over control and design of the fibrillar constructs which can be produced. Here, we introduce 'Tandem Electrospinning' (T-ESP), a novel technique able to create increasingly complex patterns of fibrous polymeric constructs on a micro and nano-scale.

A Machine-Learning-Based Approach to Solve Both Contact Location and Force in Soft Material Tactile Sensors.

This study addresses a design and calibration methodology based on numerical finite element method (FEM) modeling for the development of a soft tactile sensor able to simultaneously solve the magnitude and the application location of a normal load exerted onto its surface. The sensor entails the integration of a Bragg grating fiber optic sensor in a Dragon Skin 10 polymer brick (110 mm length, 24 mm width). The soft polymer mediates the transmission of the applied load to the buried fiber Bragg gratings (FBGs), and we also investigated the effect of sensor thickness on receptive field and sensitivity, both with the developed model and experimentally.

Positioning and stiffening of an articulated/continuum manipulator for implant delivery in minimally invasive surgery.

Background: Hollow, bendable manipulators can advance implant delivery in minimally invasive surgery, by circumventing the drawbacks of straight-line delivery and fostering single-port approaches. Variable stiffness manipulators are sought to be safe and effective.

Methods: We designed and experimentally assessed a cable-driven articulated/continuum manipulator, devised for cardiac valve delivery.

Spider (Linothele megatheloides) and silkworm (Bombyx mori) silks: Comparative physical and biological evaluation.

Silks, in particular silkworm silks, have been studied for decades as possible candidate materials for biomedical applications. Recently, great attentions have been paid to spider silks, mainly due to their unique and remarkable mechanical properties. Both materials express singular interactions with cells through specific biorecognition moieties on the core proteins making up the two silks.

Remotely Light-Powered Soft Fluidic Actuators Based on Plasmonic-Driven Phase Transitions in Elastic Constraint.

Materials capable of actuation through remote stimuli are crucial for untethering soft robotic systems from hardware for powering and control. Fluidic actuation is one of the most applied and versatile actuation strategies in soft robotics. Here, the first macroscale soft fluidic actuator is derived that operates remotely powered and controlled by light through a plasmonically induced phase transition in an elastomeric constraint.

Synapsins are expressed at neuronal and non-neuronal locations in Octopus vulgaris.

Synapsins are a family of phosphoproteins fundamental to the regulation of neurotransmitter release. They are typically neuron-specific, although recent evidence pointed to their expression in non-neuronal cells where they play a role in exocytosis and vesicle trafficking. In this work, we characterized synapsin transcripts in the invertebrate mollusk Octopus vulgaris and present evidence of their expression not only in the brain but also in male and female reproductive organs.

Inkjet-printed PEDOT:PSS multi-electrode arrays for low-cost in vitro electrophysiology.

Multi-electrode arrays (MEAs) have become a key element in the study of cellular phenomena in vitro. Common modern MEAs are still based on costly microfabrication techniques, making them expensive tools that researchers are pushed to reuse, compromising the reproducibility and the quality of the acquired data. There is a need to develop novel fabrication strategies, able to produce disposable devices that incorporate advanced technologies beyond the standard metal electrodes on rigid substrates.

Passive Morphological Adaptation for Obstacle Avoidance in a Self-Growing Robot Produced by Additive Manufacturing.

This article presents strategies for the passive path and morphological adaptation of a plant-inspired growing robot that can build its own body by an additive manufacturing process. By exploiting the soft state of the thermoplastic material used by the robot to build its structure, we analyzed the ability of the robot to change its direction of growth without the need for specific cognition and control processes. Obstacle avoidance is computed by the mechanics from the body-environment interaction.

A purely bioinformatic pipeline for the prediction of mammalian odorant receptor gene enhancers.

Background: In most mammals, a vast array of genes coding for chemosensory receptors mediates olfaction. Odorant receptor (OR) genes generally constitute the largest multifamily (> 1100 intact members in the mouse). From the whole pool, each olfactory neuron expresses a single OR allele following poorly characterized mechanisms termed OR gene choice.

Correction to: On the reproducibility of expert-operated and robotic ultrasound acquisitions.

The original version of this article unfortunately contained a mistake.

Suberin/Cinnamaldehyde Oil Nanoparticles with Antimicrobial Activity and Anticancer Properties When Loaded with Paclitaxel.

Suberin is a biopolyester that can be extracted from bioresources such as cork trees and may find many applications in food packaging, sealing, and biomedical fields. In this work, we describe for the first time the preparation of suberin nanoparticles using the solvent/antisolvent method. Three different suberin extraction methods from cork trees were used to reveal any differences in the production and properties of the nanoparticles.

Cell Membrane-Coated Magnetic Nanocubes with a Homotypic Targeting Ability Increase Intracellular Temperature due to ROS Scavenging and Act as a Versatile Theranostic System for Glioblastoma Multiforme.

In this study, hybrid nanocubes composed of magnetite (Fe O ) and manganese dioxide (MnO ), coated with U-251 MG cell-derived membranes (CM-NCubes) are synthesized. The CM-NCubes demonstrate a concentration-dependent oxygen generation (up to 15%), and, for the first time in the literature, an intracellular increase of temperature (6 °C) due to the exothermic scavenging reaction of hydrogen peroxide (H O ) is showed. Internalization studies demonstrate that the CM-NCubes are internalized much faster and at a higher extent by the homotypic U-251 MG cell line compared to other cerebral cell lines.

Characterization of the Growing From the Tip as Robot Locomotion Strategy.

Growing robots are a new class of robots able to move in the environment exploiting a growing from the tip process (movement by growing). Thanks to this property, these robots are able to navigate 3D environments while negotiating confined spaces and large voids by adapting their body. During the exploration of the environment, the tip of the robot is able to move in any direction and can be kinematically considered as a non-holonomic mobile system.

Biomechanics in Soft Mechanical Sensing: From Natural Case Studies to the Artificial World.

Living beings use mechanical interaction with the environment to gather essential cues for implementing necessary movements and actions. This process is mediated by biomechanics, primarily of the sensory structures, meaning that, at first, mechanical stimuli are morphologically computed. In the present paper, we select and review cases of specialized sensory organs for mechanical sensing-from both the animal and plant kingdoms-that distribute their intelligence in both structure and materials.

Soft Robotics.

In Nature, the adaptability of many organisms and their capability to survive in challenging and dynamically changing environments are closely linked to their characteristics and the morphology of their body parts [...

Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor.

Tactile sensing is an instrumental modality of robotic manipulation, as it provides information that is not accessible via remote sensors such as cameras or lidars. Touch is particularly crucial in unstructured environments, where the robot's internal representation of manipulated objects is uncertain. In this study we present the sensorization of an existing artificial hand, with the aim to achieve fine control of robotic limbs and perception of object's physical properties.