Haptic feedback in the da Vinci Research Kit (dVRK): A user study based on grasping, palpation, and incision tasks.

Background: It was suggested that the lack of haptic feedback, formerly considered a limitation for the da Vinci robotic system, does not affect robotic surgeons because of training and compensation based on visual feedback. However, conclusive studies are still missing, and the interest in force reflection is rising again.

Methods: We integrated a seven-DoF master into the da Vinci Research Kit.

Imaging and mechanical characterization of different junctions in spider orb webs.

Spider silk and spider orb webs are among the most studied biological materials and structures owing to their outstanding mechanical properties. A key feature that contributes significantly to the robustness and capability to absorb high kinetic energy of spider webs is the presence of junctions connecting different silk threads. Surprisingly, in spite of their fundamental function, the mechanics of spider web junctions have never been reported.

Capillary-Fiber Based Electrophoretic Delivery Device.

Organic electronic ion pumps (OEIPs) are versatile tools for electrophoretic delivery of substances with high spatiotemporal resolution. To date, OEIPs and similar iontronic components have been fabricated using thin-film techniques and often rely on laborious, multistep photolithographic processes. OEIPs have been demonstrated in a variety of in vitro and in vivo settings for controlling biological systems, but the thin-film form factor and limited repertoire of polyelectrolyte materials and device fabrication techniques unnecessarily constrain the possibilities for miniaturization and extremely localized substance delivery, e.

A variable-stiffness tendril-like soft robot based on reversible osmotic actuation.

Soft robots hold promise for well-matched interactions with delicate objects, humans and unstructured environments owing to their intrinsic material compliance. Movement and stiffness modulation, which is challenging yet needed for an effective demonstration, can be devised by drawing inspiration from plants. Plants use a coordinated and reversible modulation of intracellular turgor (pressure) to tune their stiffness and achieve macroscopic movements.

Biohybrid Cathode in Single Chamber Microbial Fuel Cell.

The aim of this work is to investigate the properties of biofilms, spontaneously grown on cathode electrodes of single-chamber microbial fuel cells, when used as catalysts for oxygen reduction reaction (ORR). To this purpose, a comparison between two sets of different carbon-based cathode electrodes is carried out. The first one (Pt-based biocathode) is based on the proliferation of the biofilm onto a Pt/C layer, leading thus to the creation of a biohybrid catalyst.

Nutlin-loaded magnetic solid lipid nanoparticles for targeted glioblastoma treatment.

Aim: Glioblastoma multiforme is one of the deadliest forms of cancer, and current treatments are limited to palliative cares. The present study proposes a nanotechnology-based solution able to improve both drug efficacy and its delivery efficiency.

Materials & Methods: Nutlin-3a and superparamagnetic nanoparticles were encapsulated in solid lipid nanoparticles, and the obtained nanovectors (nutlin-loaded magnetic solid lipid nanoparticle [Nut-Mag-SLNs]) were characterized by analyzing both their physicochemical properties and their effects on U-87 MG glioblastoma cells.

Editorial for the Special Issue on Tactile Sensing for Soft Robotics and Wearables.

Tactile feedback is needed for the interaction of humans with a worn device, and to enable robots to gather environmental cues and react to their surroundings [...

Iterative simulations to estimate the elastic properties from a series of MRI images followed by MRI-US validation.

The modeling of breast deformations is of interest in medical applications such as image-guided biopsy, or image registration for diagnostic purposes. In order to have such information, it is needed to extract the mechanical properties of the tissues. In this work, we propose an iterative technique based on finite element analysis that estimates the elastic modulus of realistic breast phantoms, starting from MRI images acquired in different positions (prone and supine), when deformed only by the gravity force.

Air Trapping Mechanism in Artificial Salvinia-Like Micro-Hairs Fabricated via Direct Laser Lithography.

Salvinia leaves represent an extraordinary example of how nature found a strategy for the long term retainment of air, and thus oxygen, on a surface, the so-called 'Salvinia effect', thanks to the peculiar three-dimensional and hierarchical shape of the hairs covering the leaves. Here, starting from the natural model, we have microfabricated hairs inspired by those present on the leaves, by means of direct laser lithography. Artificial hairs, like their natural counterpart, are composed of a stalk and a crown-like head, and have been reproduced in the microscale since this ensures, if using a proper design, an air-retaining behavior even if the bulk structural material is hydrophilic.

An Intravascular Magnetic Catheter Enables the Retrieval of Nanoagents from the Bloodstream.

The clinical adoption of nanoscale agents for targeted therapy is still hampered by the quest for a balance between therapy efficacy and side effects on healthy tissues, due to nanoparticle biodistribution and undesired drug accumulation issues. Here, an intravascular catheter able to efficiently retrieve from the bloodstream magnetic nanocarriers not contributing to therapy, thus minimizing their uncontrollable dispersion and consequently attenuating possible side effects, is proposed. The device consists of a miniature module, based on 27 permanent magnets arranged in two coaxial series, integrated into a clinically used 12 French catheter.

Toward Perceptive Soft Robots: Progress and Challenges.

In the past few years, soft robotics has rapidly become an emerging research topic, opening new possibilities for addressing real-world tasks. Perception can enable robots to effectively explore the unknown world, and interact safely with humans and the environment. Among all extero- and proprioception modalities, the detection of mechanical cues is vital, as with living beings.

Cellulose acetate - essential oil nanocapsules with antimicrobial activity for biomedical applications.

This study aimed to obtain bioactive nanosystems by combining cellulose acetate with three selected essential oils (EOs) to create spherical nanocapsules (NCs) using the solvent/anti-solvent technique. The biological activity of the obtained NCs was promoted by the use of some antimicrobial EOs: Peppermint, Cinnamon and lemongrass which were grafted on the cellulose acetate molecules. Due to their chemistry, such as long hydrocarbon tails and heads with functional groups these EOs were playing also the role of surfactant-like substance facilitating the formation of NCs.

A study on plant root apex morphology as a model for soft robots moving in soil.

Plants use many strategies to move efficiently in soil, such as growth from the tip, tropic movements, and morphological changes. In this paper, we propose a method to translate morphological features of Zea mays roots into a new design of soft robots that will be able to move in soil. The method relies on image processing and curve fitting techniques to extract the profile of Z.

Three-dimensional reconstruction of root shape in the moth orchid Phalaenopsis sp.: a biomimicry methodology for robotic applications.

Objective: Within the field of biorobotics, an emerging branch is plant-inspired robotics. Some effort exists in particular towards the production of digging robots that mimic roots; for these, a deeper comprehension of the role of root tip geometry in excavation would be highly desirable. Here we demonstrate a photogrammetry-based pipeline for the production of computer and manufactured replicas of moth orchid root apexes.

Toward Growing Robots: A Historical Evolution from Cellular to Plant-Inspired Robotics.

This paper provides the very first definition of "growing robots": a category of robots that imitates biological growth by the incremental addition of material. Although this nomenclature is quite new, the concept of morphological evolution, which is behind growth, has been extensively addressed in engineering and robotics. In fact, the idea of reproducing processes that belong to living systems has always attracted scientists and engineers.

Tattoo-Paper Transfer as a Versatile Platform for All-Printed Organic Edible Electronics.

The use of natural or bioinspired materials to develop edible electronic devices is a potentially disruptive technology that can boost point-of-care testing. The technology exploits devices that can be safely ingested, along with pills or even food, and operated from within the gastrointestinal tract. Ingestible electronics can potentially target a significant number of biomedical applications, both as therapeutic and diagnostic tool, and this technology may also impact the food industry, by providing ingestible or food-compatible electronic tags that can "smart" track goods and monitor their quality along the distribution chain.

Modular Continuum Manipulator: Analysis and Characterization of Its Basic Module.

We present the basic module of a modular continuum arm (soft compliant manipulator for broad applications (SIMBA)). SIMBA is a robotic arm with a hybrid structure, namely a combination of rigid and soft components, which makes the arm highly versatile, dexterous, and robust. These key features are due to the design of its basic module, which is characterized by a three-dimensional workspace with a constant radius around its rotation axis, large and highly repeatable bending, complete rotation, and passive stiffness.

Integrated Simultaneous Detection of Tactile and Bending Cues for Soft Robotics.

Soft robots should move in an unstructured environment and explore it and, to do so, they should be able to measure and distinguish proprioceptive and exteroceptive stimuli. This can be done by embedding mechanosensing systems in the body of the robot. Here, we present a polydimethylsiloxane block sensorized with an electro-optical system and a resistive strain gauge made with the supersonic cluster beam implantation (SCBI) technique.

A 3D Real-Scale, Biomimetic, and Biohybrid Model of the Blood-Brain Barrier Fabricated through Two-Photon Lithography.

The investigation of the crossing of exogenous substances through the blood-brain barrier (BBB) is object of intensive research in biomedicine, and one of the main obstacles for reliable in vitro evaluations is represented by the difficulties at the base of developing realistic models of the barrier, which could resemble as most accurately as possible the in vivo environment. Here, for the first time, a 1:1 scale, biomimetic, and biohybrid BBB model is proposed. Microtubes inspired to the brain capillaries were fabricated through two-photon lithography and used as scaffolds for the co-culturing of endothelial-like bEnd.

An efficient soil penetration strategy for explorative robots inspired by plant root circumnutation movements.

This paper presents a comparative analysis in terms of energy required by an artificial probe to penetrate soil implementing two different strategies: a straight penetration movement and a circumnutation, which is an oscillatory movement performed by plant roots. The role of circumnutations in plant roots is still debated. We hypothesized that circumnutation movements can help roots in penetrating soil, and validated our assumption by testing the probe at three distinct soil densities and using various combinations of circumnutation amplitudes and periods for each soil.

Numerical study of intrathecal drug delivery to a permeable spinal cord: effect of catheter position and angle.

Intrathecal delivery is a procedure involving the release of therapeutic agents into the cerebrospinal fluid (CSF) hrough a catheter. It holds promise for treating high-impact central nervous system pathologies, for which systemic administration routes are ineffective. In this study we introduce a numerical model able to simultaneously account for solute transport in the fluid and in the spinal cord.

Design Optimisation of a Magnetic Field Based Soft Tactile Sensor.

This paper investigates the design optimisation of a magnetic field based soft tactile sensor, comprised of a magnet and Hall effect module separated by an elastomer. The aim was to minimise sensitivity of the output force with respect to the input magnetic field; this was achieved by varying the geometry and material properties. Finite element simulations determined the magnetic field and structural behaviour under load.

Anchoring like octopus: biologically inspired soft artificial sucker.

This paper presents a robotic anchoring module, a sensorized mechanism for attachment to the environment that can be integrated into robots to enable or enhance various functions such as robot mobility, remaining on location or its ability to manipulate objects. The body of the anchoring module consists of two portions with a mechanical stiffness transition from hard to soft. The hard portion is capable of containing vacuum pressure used for actuation while the soft portion is highly conformable to create a seal to contact surfaces.

Toward Self-Growing Soft Robots Inspired by Plant Roots and Based on Additive Manufacturing Technologies.

In this article, we present a novel class of robots that are able to move by growing and building their own structure. In particular, taking inspiration by the growing abilities of plant roots, we designed and developed a plant root-like robot that creates its body through an additive manufacturing process. Each robotic root includes a tubular body, a growing head, and a sensorized tip that commands the robot behaviors.

Soft Smart Garments for Lower Limb Joint Position Analysis.

Revealing human movement requires lightweight, flexible systems capable of detecting mechanical parameters (like strain and pressure) while being worn comfortably by the user, and not interfering with his/her activity. In this work we address such multifaceted challenge with the development of smart garments for lower limb motion detection, like a textile kneepad and anklet in which soft sensors and readout electronics are embedded for retrieving movement of the specific joint. Stretchable capacitive sensors with a three-electrode configuration are built combining conductive textiles and elastomeric layers, and distributed around knee and ankle.