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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: George Thuruthel, Thomas; Bosman, Anton W; Hughes, Josie; Iida, Fumiya;

    Self-healing sensors have the potential to increase the lifespan of existing sensing technologies, especially in soft robotic and wearable applications. Furthermore, they could bestow additional functionality to the sensing system because of their self-healing ability. This paper presents the design for a self-healing sensor that can be used for damage detection and localization in a continuous manner. The soft sensor can recover full functionality almost instantaneously at room temperature, making the healing process fully autonomous. The working principle of the sensor is based on the measurement of air pressure inside enclosed chambers, making the fabrication and the modeling of the sensors easy. We characterize the force sensing abilities of the proposed sensor and perform damage detection and localization over a one-dimensional and two-dimensional surface using multilateration techniques. The proposed solution is highly scalable, easy-to-build, cheap and even applicable for multi-damage detection. This work was supported by the SHERO project, a Future and Emerging Technologies284(FET) programme of the European Commission (grant agreement ID 828818)

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Europe PubMed Centra...arrow_drop_down
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    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    UCL Discovery
    Article . 2021
    Data sources: UCL Discovery
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    DOAJ
    Article . 2021
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    Sensors
    Article . 2021
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    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Apollo
    Article . 2021
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    Sensors
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    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Apollo
    Article . 2021
    License: CC BY
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    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Apollo
    Article . 2021
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    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Apollo
    Article . 2021
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    image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
    Apollo
    Article . 2022
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Europe PubMed Centra...arrow_drop_down
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      UCL Discovery
      Article . 2021
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      DOAJ
      Article . 2021
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      Sensors
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      Apollo
      Article . 2021
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      Apollo
      Article . 2021
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      Apollo
      Article . 2021
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      Apollo
      Article . 2021
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      image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
      Apollo
      Article . 2022
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Dirk, Hadrich;

    The human microbiome has emerged as the crucial moderator in the interactions between food and our body. It is increasingly recognised that the microbiome can change our mind and health status, or switch on a wide range of diseases including cancer, cardio-metabolic diseases, allergies, and obesity. The causes of diseases are often only partially understood. However, nutrients, metabolites, and microbes are increasingly regarded as key players, even where the complete disease mechanisms remain unclear. The key to progress in the future will be to use and exploit additional, newly emerging disciplines such as metagenomics to complement patient information and to bring our understanding of diseases and the interrelation and effects of nutritional molecules to the next level. The EU has already funded 216 projects under the 7th Framework Programme and Horizon 2020 programmes to promote metagenomics and to advance our knowledge of microbes. This support started with the catalysing MetaHIT project that has produced a catalogue of gut microbes, and has arrived now at the very multi-disciplinary SYSCID action looking at how the microbiome is driving its resilience potential and our health. Together, these projects involve an investment of more than €498 M. However, in Horizon 2020, the new EU Health and Food Work Programmes for 2018–2020 go even further by setting new goals to find applications and to generate more knowledge on the microbiome, nutrition, various hosts of microbes, and their relation to health and disease. The big vision is to modulate health and diseases via the microbiome and nutrition, while at the same time other factors such as omics, molecular signatures, and lifestyle are constant. In this way, microbiome and nutrition research is moving from an isolated and despised offside position to a beacon of hope with a lot of potential and possibilities.

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Europe PubMed Centra...arrow_drop_down
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    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Frontiers in Genetics
    Article . 2018 . Peer-reviewed
    License: CC BY
    Data sources: Crossref
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Frontiers in Genetics
    Article . 2018
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    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    DOAJ
    Article . 2018
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Europe PubMed Centra...arrow_drop_down
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      Frontiers in Genetics
      Article . 2018 . Peer-reviewed
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      Frontiers in Genetics
      Article . 2018
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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      Article . 2018
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Kohler, Matthias; Bengtsson, Fredrik; Stratmann, Philipp; Röhrbein, Florian; +3 Authors

    Summary: The spinal cord is engaged in all forms of motor performance but its functions are far from understood. Because network connectivity defines function, we explored the connectivity of muscular, tendon, and tactile sensory inputs among a wide population of spinal interneurons in the lower cervical segments. Using low noise intracellular whole cell recordings in the decerebrated, non-anesthetized cat in vivo, we could define mono-, di-, and trisynaptic inputs as well as the weights of each input. Whereas each neuron had a highly specific input, and each indirect input could moreover be explained by inputs in other recorded neurons, we unexpectedly also found the input connectivity of the spinal interneuron population to form a continuum. Our data hence contrasts with the currently widespread notion of distinct classes of interneurons. We argue that this suggested diversified physiological connectivity, which likely requires a major component of circuitry learning, implies a more flexible functionality.

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ iScience; DLR public...arrow_drop_down
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    Other literature type . Article . 2022 . Peer-reviewed
    License: Elsevier TDM
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    MediaTUM
    Article . 2021
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    iScience
    Article . 2022
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    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    iScience
    Article . 2021
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ iScience; DLR public...arrow_drop_down
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      Other literature type . Article . 2022 . Peer-reviewed
      License: Elsevier TDM
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      MediaTUM
      Article . 2021
      Data sources: MediaTUM
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      iScience
      Article . 2022
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      iScience
      Article . 2021
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Hou, Wenduan; Bubliauskas, Andrius; Kitson, Philip J.; Francoia, Jean-Patrick; +5 Authors

    We describe a system, ChemSCAD, for the creation of digital reactors based on the chemical operations, physical parameters, and synthetic sequence to produce a given target compound, to show that the system can translate the gram-scale batch synthesis of the antiviral compound Ribavirin (yield 43% over three steps), the narcolepsy drug Modafinil (yield 60% over three steps), and both batch and flow instances of the synthesis of the anticancer agent Lomustine (batch yield 65% over two steps) in purities greater than or equal to 96%. The syntheses of compounds developed using the ChemSCAD system, including reactor designs and analytical data, can be stored in a database repository, with the information necessary to critically evaluate and improve upon reactionware syntheses being easily shared and versioned. A digital-to-physical workflow with associated software for the easy design of 3D printable bespoke reactionware is presented, and its use is demonstrated for the synthesis of three API targets.

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    ACS Central Science
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    https://doi.org/10.26434/chemr...
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      https://doi.org/10.26434/chemr...
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      https://doi.org/10.26434/chemr...
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    Authors: Noccaro, A.; Eden, J.; Di Pino, G.; Formica, D.; +1 Authors

    AbstractThe successful completion of complex tasks like hanging a picture or laparoscopic surgery requires coordinated motion of more than two limbs. User-controlled supernumerary robotic limbs (SL) have been proposed to bypass the need for coordination with a partner in such tasks. However, neither the capability to control multiple limbs alone relative to collaborative control with partners, nor how that capability varies across different tasks, is well understood. In this work, we present an investigation of tasks requiring three-hands where the foot was used as an additional source of motor commands. We considered: (1) how does simultaneous control of three hands compare to a cooperating dyad; (2) how this relative performance was altered by the existence of constraints emanating from real or virtual physical connections (mechanical constraints) or from cognitive limits (cognitive constraints). It was found that a cooperating dyad outperformed a single user in all scenarios in terms of task score, path efficiency and motion smoothness. However, while the participants were able to reach more targets with increasing mechanical constraints/decreasing number of simultaneous goals, the relative difference in performance between a dyad and a participant performing trimanual activities decreased, suggesting further potential for SLs in this class of scenario.

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    Scientific Reports
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    https://doi.org/10.21203/rs.3....
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      https://doi.org/10.21203/rs.3....
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    Authors: Judith Bütepage; Ali Ghadirzadeh; Ali Ghadirzadeh; Özge Öztimur Karadaǧ; +3 Authors

    WOS: 000531230100001 PubMed: 33501215 To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner. They require the ability to predict and adapt to one's partner during an interaction. In this work we want to explore these ideas in a human-robot interaction setting in which a robot is required to learn interactive tasks from a combination of observational and kinesthetic learning. To this end, we propose a deep learning framework consisting of a number of components for (1) human and robot motion embedding, (2) motion prediction of the human partner, and (3) generation of robot joint trajectories matching the human motion. As long-term motion prediction methods often suffer from the problem of regression to the mean, our technical contribution here is a novel probabilistic latent variable model which does not predict in joint space but in latent space. To test the proposed method, we collect human-human interaction data and human-robot interaction data of four interactive tasks "hand-shake," "hand-wave," "parachute fist-bump," and "rocket fist-bump." We demonstrate experimentally the importance of predictive and adaptive components as well as low-level abstractions to successfully learn to imitate human behavior in interactive social tasks. EU through the project socSMCs (H2020-FETPROACT-2014); Swedish Foundation for Strategic ResearchSwedish Foundation for Strategic Research; EnTimeMent [H2020-FETPROACT-824160]; Knut and AliceWallenberg FoundationKnut & Alice Wallenberg Foundation This work was supported by the EU through the project socSMCs (H2020-FETPROACT-2014) and the Swedish Foundation for Strategic Research and EnTimeMent (H2020-FETPROACT-824160), and the Knut and AliceWallenberg Foundation.

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    https://doi.org/10.48550/arxiv...
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    Authors: Anand Kumar Mishra; Francesca Tramacere; Roberto Guarino; Nicola M. Pugno; +1 Authors

    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. mays primary root. We implemented an analytic translation of the root profile in a 3D model (CAD) to fabricate root-like probes by means of 3D printing technology. Then, we carried out a comparative analysis among the artificial root-like probe and probes with different tip shapes (cylindrical, conical, elliptical, and parabolic) and diameters (11, 9, 7, 5, and 3 mm). The results showed that the energy consumption and the penetration force of the bioinspired probe are better with respect to the other shapes for all the diameters of the developed probes. For 100 mm of penetration depth and 7 mm of probe diameter, the energy consumption of the bioinspired probe is 89% lesser with respect to the cylindrical probe and 26% lesser with respect to the conical probe. The penetration performance of the considered tip shapes was evaluated also by means of numerical simulations, obtaining a good agreement with the experimental results. Additional investigations on plant root morphology, movement strategies, and material properties can allow the development of innovative bioinspired solutions exploitable in challenging environments. This research can bring to breakthrough scenarios in different fields, such as exploration tasks, environmental monitoring, geotechnical studies, and medical applications.

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    PLoS ONE
    Article . 2018 . Peer-reviewed
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      PLoS ONE
      Article . 2018 . Peer-reviewed
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      Article . 2018
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      Article . 2018
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    Authors: Zebin Huang; Ziwei Wang; Weibang Bai; Yanpei Huang; +3 Authors

    Human operators have the trend of increasing physical and mental workloads when performing teleoperation tasks in uncertain and dynamic environments. In addition, their performances are influenced by subjective factors, potentially leading to operational errors or task failure. Although agent-based methods offer a promising solution to the above problems, the human experience and intelligence are necessary for teleoperation scenarios. In this paper, a truncated quantile critics reinforcement learning-based integrated framework is proposed for human–agent teleoperation that encompasses training, assessment and agent-based arbitration. The proposed framework allows for an expert training agent, a bilateral training and cooperation process to realize the co-optimization of agent and human. It can provide efficient and quantifiable training feedback. Experiments have been conducted to train subjects with the developed algorithm. The performances of human–human and human–agent cooperation modes are also compared. The results have shown that subjects can complete the tasks of reaching and picking and placing with the assistance of an agent in a shorter operational time, with a higher success rate and less workload than human–human cooperation.

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    Sensors
    Other literature type . Article . 2021 . Peer-reviewed
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    Article . 2021
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      Other literature type . Article . 2021 . Peer-reviewed
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    Authors: Thuruthel, TG; Hughes, J; Georgopoulou, A; Clemens, F; +1 Authors

    Soft robotic sensors have been limited in their applications due to their highly nonlinear time variant behavior. Current studies are either looking into techniques to improve the mechano-electrical properties of these sensors or into modelling algorithms that account for the history of each sensor. Here, we present a method for combining multi-material soft strain sensors to obtain equivalent higher quality sensors; better than each of the individual strain sensors. The core idea behind this work is to use a combination of redundant and disjoint strain sensors to compensate for the time-variant hidden states of a soft-bodied system, to finally obtain the true strain state in a static manner using a learning-based approach. We provide methods to develop these variable sensors and metrics to estimate their dissimilarity and efficacy of each sensor combinations, which can double down as a benchmarking tool for soft robotic sensors. The proposed approach is experimentally validated on a pneumatic actuator with embedded soft strain sensors. Our results show that static data from a combination of nonlinear time variant strain sensors is sufficient to accurately estimate the strain state of a system. © 2016 IEEE.

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    UCL Discovery
    Article . 2021
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    Apollo
    Article . 2021
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    Apollo
    Article . 2021
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      UCL Discovery
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      Apollo
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    Authors: Romain Lehnebach; Cloé Paul-Victor; Elisa Courric; Nick P Rowe;

    Many climbing plants have microspines on their stems, which facilitate attachment and prevent slipping and falling from host plant supports. Extending via growth through complex environments and anchoring stems to substrates with minimal contact forces are key benefits for climbing plants. Microspines are also highly desirable features for new technologies and applications in soft robotics. Using a novel sled-like device, we investigated static and sliding attachment forces generated by stems in 10 species of tropical climber from French Guiana differing in size and climbing habit. Eight species showed higher static and sliding forces when their stems were pulled in the basal direction against a standard surface than in the apical direction. This anisotropic behaviour suggests that tropical climbers have evolved different ratchet-like mechanisms that allow easy sliding forwards but are resistant to slipping downwards. The presence of a downwards ‘stick-and-slip’ phenomenon, where static attachment is not significantly stronger than maximal sliding attachment, was present in most species apart from three showing relatively weak attachment by microspines. This indicates that diverse microspine attachment strategies exist in climbing plants. This diversity of functional properties offers a range of potential design specifications for climbing strategies on different substrates for artificial climbing artefacts. International audience

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    Authors: George Thuruthel, Thomas; Bosman, Anton W; Hughes, Josie; Iida, Fumiya;

    Self-healing sensors have the potential to increase the lifespan of existing sensing technologies, especially in soft robotic and wearable applications. Furthermore, they could bestow additional functionality to the sensing system because of their self-healing ability. This paper presents the design for a self-healing sensor that can be used for damage detection and localization in a continuous manner. The soft sensor can recover full functionality almost instantaneously at room temperature, making the healing process fully autonomous. The working principle of the sensor is based on the measurement of air pressure inside enclosed chambers, making the fabrication and the modeling of the sensors easy. We characterize the force sensing abilities of the proposed sensor and perform damage detection and localization over a one-dimensional and two-dimensional surface using multilateration techniques. The proposed solution is highly scalable, easy-to-build, cheap and even applicable for multi-damage detection. This work was supported by the SHERO project, a Future and Emerging Technologies284(FET) programme of the European Commission (grant agreement ID 828818)

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    Apollo
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    Apollo
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    Apollo
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    Apollo
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    Authors: Dirk, Hadrich;

    The human microbiome has emerged as the crucial moderator in the interactions between food and our body. It is increasingly recognised that the microbiome can change our mind and health status, or switch on a wide range of diseases including cancer, cardio-metabolic diseases, allergies, and obesity. The causes of diseases are often only partially understood. However, nutrients, metabolites, and microbes are increasingly regarded as key players, even where the complete disease mechanisms remain unclear. The key to progress in the future will be to use and exploit additional, newly emerging disciplines such as metagenomics to complement patient information and to bring our understanding of diseases and the interrelation and effects of nutritional molecules to the next level. The EU has already funded 216 projects under the 7th Framework Programme and Horizon 2020 programmes to promote metagenomics and to advance our knowledge of microbes. This support started with the catalysing MetaHIT project that has produced a catalogue of gut microbes, and has arrived now at the very multi-disciplinary SYSCID action looking at how the microbiome is driving its resilience potential and our health. Together, these projects involve an investment of more than €498 M. However, in Horizon 2020, the new EU Health and Food Work Programmes for 2018–2020 go even further by setting new goals to find applications and to generate more knowledge on the microbiome, nutrition, various hosts of microbes, and their relation to health and disease. The big vision is to modulate health and diseases via the microbiome and nutrition, while at the same time other factors such as omics, molecular signatures, and lifestyle are constant. In this way, microbiome and nutrition research is moving from an isolated and despised offside position to a beacon of hope with a lot of potential and possibilities.

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    Frontiers in Genetics
    Article . 2018 . Peer-reviewed
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    Frontiers in Genetics
    Article . 2018
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    Article . 2018
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      Frontiers in Genetics
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    Authors: Kohler, Matthias; Bengtsson, Fredrik; Stratmann, Philipp; Röhrbein, Florian; +3 Authors

    Summary: The spinal cord is engaged in all forms of motor performance but its functions are far from understood. Because network connectivity defines function, we explored the connectivity of muscular, tendon, and tactile sensory inputs among a wide population of spinal interneurons in the lower cervical segments. Using low noise intracellular whole cell recordings in the decerebrated, non-anesthetized cat in vivo, we could define mono-, di-, and trisynaptic inputs as well as the weights of each input. Whereas each neuron had a highly specific input, and each indirect input could moreover be explained by inputs in other recorded neurons, we unexpectedly also found the input connectivity of the spinal interneuron population to form a continuum. Our data hence contrasts with the currently widespread notion of distinct classes of interneurons. We argue that this suggested diversified physiological connectivity, which likely requires a major component of circuitry learning, implies a more flexible functionality.

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    Other literature type . Article . 2022 . Peer-reviewed
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    iScience
    Article . 2021
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      Other literature type . Article . 2022 . Peer-reviewed
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    Authors: Hou, Wenduan; Bubliauskas, Andrius; Kitson, Philip J.; Francoia, Jean-Patrick; +5 Authors

    We describe a system, ChemSCAD, for the creation of digital reactors based on the chemical operations, physical parameters, and synthetic sequence to produce a given target compound, to show that the system can translate the gram-scale batch synthesis of the antiviral compound Ribavirin (yield 43% over three steps), the narcolepsy drug Modafinil (yield 60% over three steps), and both batch and flow instances of the synthesis of the anticancer agent Lomustine (batch yield 65% over two steps) in purities greater than or equal to 96%. The syntheses of compounds developed using the ChemSCAD system, including reactor designs and analytical data, can be stored in a database repository, with the information necessary to critically evaluate and improve upon reactionware syntheses being easily shared and versioned. A digital-to-physical workflow with associated software for the easy design of 3D printable bespoke reactionware is presented, and its use is demonstrated for the synthesis of three API targets.

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    ACS Central Science
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    https://doi.org/10.26434/chemr...
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    https://doi.org/10.26434/chemr...
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      https://doi.org/10.26434/chemr...
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      https://doi.org/10.26434/chemr...
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    Authors: Noccaro, A.; Eden, J.; Di Pino, G.; Formica, D.; +1 Authors

    AbstractThe successful completion of complex tasks like hanging a picture or laparoscopic surgery requires coordinated motion of more than two limbs. User-controlled supernumerary robotic limbs (SL) have been proposed to bypass the need for coordination with a partner in such tasks. However, neither the capability to control multiple limbs alone relative to collaborative control with partners, nor how that capability varies across different tasks, is well understood. In this work, we present an investigation of tasks requiring three-hands where the foot was used as an additional source of motor commands. We considered: (1) how does simultaneous control of three hands compare to a cooperating dyad; (2) how this relative performance was altered by the existence of constraints emanating from real or virtual physical connections (mechanical constraints) or from cognitive limits (cognitive constraints). It was found that a cooperating dyad outperformed a single user in all scenarios in terms of task score, path efficiency and motion smoothness. However, while the participants were able to reach more targets with increasing mechanical constraints/decreasing number of simultaneous goals, the relative difference in performance between a dyad and a participant performing trimanual activities decreased, suggesting further potential for SLs in this class of scenario.

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    Scientific Reports
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    https://doi.org/10.21203/rs.3....
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      https://doi.org/10.21203/rs.3....
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    Authors: Judith Bütepage; Ali Ghadirzadeh; Ali Ghadirzadeh; Özge Öztimur Karadaǧ; +3 Authors

    WOS: 000531230100001 PubMed: 33501215 To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner. They require the ability to predict and adapt to one's partner during an interaction. In this work we want to explore these ideas in a human-robot interaction setting in which a robot is required to learn interactive tasks from a combination of observational and kinesthetic learning. To this end, we propose a deep learning framework consisting of a number of components for (1) human and robot motion embedding, (2) motion prediction of the human partner, and (3) generation of robot joint trajectories matching the human motion. As long-term motion prediction methods often suffer from the problem of regression to the mean, our technical contribution here is a novel probabilistic latent variable model which does not predict in joint space but in latent space. To test the proposed method, we collect human-human interaction data and human-robot interaction data of four interactive tasks "hand-shake," "hand-wave," "parachute fist-bump," and "rocket fist-bump." We demonstrate experimentally the importance of predictive and adaptive components as well as low-level abstractions to successfully learn to imitate human behavior in interactive social tasks. EU through the project socSMCs (H2020-FETPROACT-2014); Swedish Foundation for Strategic ResearchSwedish Foundation for Strategic Research; EnTimeMent [H2020-FETPROACT-824160]; Knut and AliceWallenberg FoundationKnut & Alice Wallenberg Foundation This work was supported by the EU through the project socSMCs (H2020-FETPROACT-2014) and the Swedish Foundation for Strategic Research and EnTimeMent (H2020-FETPROACT-824160), and the Knut and AliceWallenberg Foundation.

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    https://doi.org/10.48550/arxiv...
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      https://doi.org/10.48550/arxiv...
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    Authors: Anand Kumar Mishra; Francesca Tramacere; Roberto Guarino; Nicola M. Pugno; +1 Authors

    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. mays primary root. We implemented an analytic translation of the root profile in a 3D model (CAD) to fabricate root-like probes by means of 3D printing technology. Then, we carried out a comparative analysis among the artificial root-like probe and probes with different tip shapes (cylindrical, conical, elliptical, and parabolic) and diameters (11, 9, 7, 5, and 3 mm). The results showed that the energy consumption and the penetration force of the bioinspired probe are better with respect to the other shapes for all the diameters of the developed probes. For 100 mm of penetration depth and 7 mm of probe diameter, the energy consumption of the bioinspired probe is 89% lesser with respect to the cylindrical probe and 26% lesser with respect to the conical probe. The penetration performance of the considered tip shapes was evaluated also by means of numerical simulations, obtaining a good agreement with the experimental results. Additional investigations on plant root morphology, movement strategies, and material properties can allow the development of innovative bioinspired solutions exploitable in challenging environments. This research can bring to breakthrough scenarios in different fields, such as exploration tasks, environmental monitoring, geotechnical studies, and medical applications.

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    PLoS ONE
    Article . 2018 . Peer-reviewed
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    Article . 2018
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      PLoS ONE
      Article . 2018 . Peer-reviewed
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      Article . 2018
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    Authors: Zebin Huang; Ziwei Wang; Weibang Bai; Yanpei Huang; +3 Authors

    Human operators have the trend of increasing physical and mental workloads when performing teleoperation tasks in uncertain and dynamic environments. In addition, their performances are influenced by subjective factors, potentially leading to operational errors or task failure. Although agent-based methods offer a promising solution to the above problems, the human experience and intelligence are necessary for teleoperation scenarios. In this paper, a truncated quantile critics reinforcement learning-based integrated framework is proposed for human–agent teleoperation that encompasses training, assessment and agent-based arbitration. The proposed framework allows for an expert training agent, a bilateral training and cooperation process to realize the co-optimization of agent and human. It can provide efficient and quantifiable training feedback. Experiments have been conducted to train subjects with the developed algorithm. The performances of human–human and human–agent cooperation modes are also compared. The results have shown that subjects can complete the tasks of reaching and picking and placing with the assistance of an agent in a shorter operational time, with a higher success rate and less workload than human–human cooperation.

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    Sensors
    Other literature type . Article . 2021 . Peer-reviewed
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    Article . 2021
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    Article . 2021
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      Other literature type . Article . 2021 . Peer-reviewed
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    Authors: Thuruthel, TG; Hughes, J; Georgopoulou, A; Clemens, F; +1 Authors

    Soft robotic sensors have been limited in their applications due to their highly nonlinear time variant behavior. Current studies are either looking into techniques to improve the mechano-electrical properties of these sensors or into modelling algorithms that account for the history of each sensor. Here, we present a method for combining multi-material soft strain sensors to obtain equivalent higher quality sensors; better than each of the individual strain sensors. The core idea behind this work is to use a combination of redundant and disjoint strain sensors to compensate for the time-variant hidden states of a soft-bodied system, to finally obtain the true strain state in a static manner using a learning-based approach. We provide methods to develop these variable sensors and metrics to estimate their dissimilarity and efficacy of each sensor combinations, which can double down as a benchmarking tool for soft robotic sensors. The proposed approach is experimentally validated on a pneumatic actuator with embedded soft strain sensors. Our results show that static data from a combination of nonlinear time variant strain sensors is sufficient to accurately estimate the strain state of a system. © 2016 IEEE.

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    UCL Discovery
    Article . 2021
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    Apollo
    Article . 2021
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    Article . 2021
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    Authors: Romain Lehnebach; Cloé Paul-Victor; Elisa Courric; Nick P Rowe;

    Many climbing plants have microspines on their stems, which facilitate attachment and prevent slipping and falling from host plant supports. Extending via growth through complex environments and anchoring stems to substrates with minimal contact forces are key benefits for climbing plants. Microspines are also highly desirable features for new technologies and applications in soft robotics. Using a novel sled-like device, we investigated static and sliding attachment forces generated by stems in 10 species of tropical climber from French Guiana differing in size and climbing habit. Eight species showed higher static and sliding forces when their stems were pulled in the basal direction against a standard surface than in the apical direction. This anisotropic behaviour suggests that tropical climbers have evolved different ratchet-like mechanisms that allow easy sliding forwards but are resistant to slipping downwards. The presence of a downwards ‘stick-and-slip’ phenomenon, where static attachment is not significantly stronger than maximal sliding attachment, was present in most species apart from three showing relatively weak attachment by microspines. This indicates that diverse microspine attachment strategies exist in climbing plants. This diversity of functional properties offers a range of potential design specifications for climbing strategies on different substrates for artificial climbing artefacts. International audience

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