A multi-motion-degree-of-freedom biohybrid robot, working method and manufacturing method

Abstract

The application provides a multi-motion-degree-of-freedom biological hybrid robot, a working method and a manufacturing method, which comprise a deformation module, a driving module and a directional module; the driving module is axially and circumferentially sleeved on the deformation module, the directional module is adhered to the deformation module and connected with the front end edge of the deformation module; the driving module is an engineered muscle tissue, and the driving module controls the deformation module through contraction of different parts of the muscle tissue; the deformation module is a water bomb-like origami deformation structure; three-degree-of-freedom motions such as forward movement, turning and overturning can be realized through electrode stimulation of different parts of the driving module, and the problem that a single-degree-of-freedom motion mode of a robot cannot complete work in a complex working environment is solved; the multi-motion-degree-of-freedom robot of the application expands the application scenarios and functions of the robot in a complex environment.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic robot manufacturing technology, and relates to a multi-degree-of-freedom bio-hybrid robot and its integrated manufacturing method. Background Technology

[0002] Biohybrid robots are a novel type of robot that organically integrates biological systems and electromechanical systems at the molecular, cellular, and tissue scales. Utilizing active biological tissues or cells as biological actuation units, they are cleverly combined with mechanical systems, possessing advantages that traditional electromechanical systems struggle to match, such as high energy conversion efficiency, environmental adaptability, self-sensing, and self-repair. Since 2012, journal articles on biohybrid actuation have seen exponential growth, demonstrating extremely rapid development. Currently, biohybrid robots have become a research frontier and hot topic in the field of robotics, attracting significant attention from numerous renowned universities and research institutes both domestically and internationally, and have achieved significant breakthroughs in the past decade. Biohybrid robots can non-invasively enter and navigate in inaccessible, dynamic, unknown, and unstructured extreme environments, showing broad application prospects in medicine, agriculture, military, and environmental monitoring. Therefore, developing a biohybrid robot has significant scientific importance and important application value.

[0003] Real-world work environments are extremely complex, placing high demands on the degrees of freedom of robot movement; single-degree-of-freedom motion patterns are insufficient for completing tasks. Existing bio-hybrid robots can achieve single-degree-of-freedom movement using muscle contraction and relaxation; however, few studies have demonstrated the ability to control robots to perform multi-degree-of-freedom movements. Furthermore, existing bio-hybrid robots suffer from cumbersome manufacturing methods and do not address the potential for future integrated and standardized manufacturing. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a multi-degree-of-freedom bio-hybrid robot, its working method, and its manufacturing method. This bio-hybrid robot can achieve three degrees of freedom of movement, including forward movement, turning, and flipping, and it adopts an integrated manufacturing method, making the preparation process simple.

[0005] This invention is achieved through the following technical solution:

[0006] A multi-degree-of-freedom bio-hybrid robot, comprising:

[0007] Deformation module, drive module, and orientation module;

[0008] The drive module is axially sleeved around the deformation module, and the orientation module is adhered to the deformation module and connected to the front edge of the deformation module; the drive module is engineered muscle tissue, and the drive module controls the deformation module by contracting different parts of the muscle tissue; the deformation module is a water-bomb origami-like deformation structure.

[0009] Preferably, the orientation module includes a connecting section and a grounding section, the connecting section being connected to the deformation module; when the robot moves forward and turns, the grounding section contacts the ground.

[0010] Preferably, an arch-shaped foot structure is formed between the connecting segment and the grounding segment.

[0011] Preferably, the crease of the orientation module coincides with the edge crease of the deformation module, which is used to constrain the movement direction of the deformation module.

[0012] Preferably, the driving module is a centimeter-scale engineered skeletal muscle ring.

[0013] Preferably, the two sides of the deformation module are provided with fixing grooves for the drive module to be securely connected to the deformation module.

[0014] Preferably, the deformation module and the orientation module are made of 0.1mm thick PEEK polyether ether ketone material.

[0015] Preferably, the drive module is obtained by culturing and differentiating a newborn mouse skeletal muscle cell solution attached to a deformable module in an integrated mold.

[0016] A method for operating a multi-degree-of-freedom bio-hybrid robot includes,

[0017] When the robot is stationary, the grounding section of the orientation module bends and deforms due to its own weight and presses against the ground.

[0018] When the electrodes stimulate both sides of the drive module, the two sides of the drive module generate instantaneous symmetrical contraction force, and the rear end of the deformation module contracts axially toward the center. When the deformation module finishes contracting and deforming and returns to its original shape, the tension generated by the deformation module prevents the rear end from returning to its original position. Thus, with the cooperation of the tension at both ends of the deformation module, the robot generates a forward crawling motion.

[0019] When the electrode individually stimulates one edge of the driving module, the stimulated side of the driving module generates an instantaneous tangential contraction force. Driven by the tangential contraction force, the deformation module rolls away from the stimulated side, and the robot generates a rolling motion away from the stimulated side.

[0020] When the electrode stimulates the center of one side of the drive module alone, instantaneous asymmetric contraction force is generated on both sides of the drive module, and asymmetric axial contraction is generated at the rear end of the deformation module. When the deformation module finishes contraction and deformation and returns to its original shape, it generates tensile force opposite to the original contraction direction. Under the combined action of tensile force and elastic deformation of the deformation module, the robot generates a turning motion towards the stimulated side.

[0021] A method for manufacturing a multi-degree-of-freedom bio-hybrid robot, comprising,

[0022] The bonded deformable module and orientation module are fixed in the slot of the PDMS mold; the cell solution is injected into the culture tank of the PDMS mold and cultured and differentiated to obtain the drive module; after demolding the deformable module, orientation module and drive module, a multi-degree-of-freedom bio-hybrid robot is obtained.

[0023] Compared with the prior art, the present invention has the following beneficial technical effects:

[0024] This invention provides a multi-degree-of-freedom bio-hybrid robot, its working method, and its manufacturing method. The bio-hybrid robot includes a drive module, a deformation module, and an orientation module. The drive module is an engineered skeletal muscle ring. Both the drive module and the orientation module are connected to the deformation module to form a whole. The drive module controls the deformation module through contraction of different parts of the muscle. The working method of the multi-degree-of-freedom bio-hybrid robot is as follows: When electrodes stimulate both sides of the drive module, instantaneous symmetrical contraction forces are generated on both sides of the drive module, and the rear end of the deformation module contracts axially towards the center. When the deformation module returns to its original shape after contraction and deformation, the tensile force generated by the deformation module prevents the rear end from returning to its original position. Thus, under the combined tensile force at both ends of the deformation module, the robot produces a forward crawling motion. When electrodes individually stimulate the lower edge of one side of the drive module, the stimulated side of the drive module generates an instantaneous tangential contraction force. Driven by the tangential contraction force, the deformation module rolls away from the stimulated side, and the robot rolls away from the stimulated side. Motion: When an electrode individually stimulates the center of one side of the drive module, instantaneous asymmetric contraction forces are generated on both sides of the drive module, and asymmetric axial contraction occurs at the rear end of the deformation module. When the deformation module returns to its original shape after contraction and deformation, an extension force is generated in the opposite direction to the original contraction. Under the combined action of the extension force and the elastic deformation of the deformation module, the robot generates a turning motion towards the stimulated side, enabling three-degree-of-freedom motion such as forward movement, turning, and flipping. This solves the problem that existing complex working environments cannot enable robots to complete tasks with a single-degree-of-freedom motion mode. The multi-degree-of-freedom motion of the robot in this invention expands the application scenarios and functions of the robot in complex environments.

[0025] Furthermore, this invention provides an integrated manufacturing method that simplifies the robot manufacturing process, standardizes the production and manufacturing of bio-hybrid robots, and helps reduce manufacturing costs. This integrated manufacturing method provides a new approach for the mass production and standardized manufacturing of bio-hybrid robots, laying the foundation for the rapid manufacturing of bio-hybrid robots in the future.

[0026] Furthermore, by designing the deformation module as a water-bomb origami-like deformation structure, its design concept is based on the biomimetic body structure and movement mechanism of earthworms. Earthworms use the axial force generated by their muscles to drive their bristles into the soil and complete a forward wave-like peristaltic movement. The asymmetrical contraction of the muscles generates an asymmetrical axial force to complete flexible turning movements, and the tangential force generated by the muscles completes large-angle rolling. This enables multi-degree-of-freedom deformation capabilities, including axial and radial contraction, radial deflection, and circumferential torsion, under small-scale driving forces in multiple directions. Moreover, it can return to its original shape after the driving force is removed.

[0027] Furthermore, the orientation module adopts the design concept of bow-shaped feet, which is based on the orientation crawling mechanism of earthworm body surface setae. Earthworm setae increase the friction force for backward movement by inserting into the ground, thus preventing the earthworm from moving backward. When moving forward or turning, the bow-shaped feet are always in contact with the ground. Attached Figure Description

[0028] Figure 1 This is a structural diagram of the bio-hybrid robot;

[0029] Figure 2 A diagram illustrating the motion mechanism of a bio-hybrid robot;

[0030] Figure 3 for Figure 1 The structural diagram of the deformation module; Figure (a) is the overall view, and Figure (b) is the unfolded view;

[0031] Figure 4 for Figure 1 Structure diagram of the driver module;

[0032] Figure 5 for Figure 1 Structural diagram of the center-direction module;

[0033] Figure 6 Flowchart for the integrated manufacturing process of bio-hybrid robots;

[0034] Figure 7 This is a structural diagram of the resin mold;

[0035] Figure 8 This is a structural diagram of a PDMS mold.

[0036] Wherein: 1-Deformation module, 2-Drive module, 3-Orientation module, 11-Fixing groove, 12-Deformation module crease, 31-Connecting section, 32-Grounding section, 33-Orientation module crease, 51-Mold slot, 52-Mold cultivation tank, 53-Mold body. Detailed Implementation

[0037] The present invention will be further described in detail below with reference to specific embodiments. These descriptions are for explanation purposes only and are not intended to limit the scope of the invention.

[0038] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0039] The purpose of this invention is to provide a bio-hybrid robot with three degrees of freedom of motion and its manufacturing method, which can achieve three degrees of freedom of motion such as forward movement, turning and flipping.

[0040] To solve the above technical problems, such as Figure 1 As shown, the present invention provides the following technical solution:

[0041] A multi-degree-of-freedom bio-hybrid robot includes a deformation module, a drive module, and an orientation module;

[0042] The driving module is engineered muscle tissue, and the driving module is connected around the deformation module. The orientation module is connected to the front edge of the deformation module.

[0043] like Figure 3 As shown, the deformation module is a water-bomb origami-like deformation structure with a unit size of 3mm×3mm. Under multi-directional force drive, it can provide multi-degree-of-freedom deformation capabilities of axial and radial contraction, radial deflection, and circumferential torsion, and can return to its original shape after the driving force is removed.

[0044] like Figure 4 As shown, the drive module is a centimeter-scale engineered muscle ring tissue.

[0045] like Figure 5 As shown, the orientation module has arched legs, which enables the robot to orient itself while crawling. During forward and turning movements, the orientation module 3 remains in contact with the ground.

[0046] The bio-hybrid robot can perform forward crawling, turning, and rolling movements.

[0047] An integrated manufacturing method for a multi-degree-of-freedom bio-hybrid robot includes the following steps:

[0048] For the deformable and oriented modules, they are prepared according to the designed creases using laser-cut assisted folding and bonding processes. For the drive module, a resin mold is first manufactured using DLP printing, and PDMS is poured in and, after curing, demolded to obtain an integrated culture PDMS mold. For the integrated manufacturing method, the connected deformable and oriented modules are fixed in the slots of the PDMS mold. Cell solutions are injected into the culture tank of the PDMS mold for culture and differentiation to obtain the drive module. After the drive module is formed, the integrated mold is destroyed, and the deformable, oriented, and drive modules are removed to obtain the complete robot. After determining the structure and dimensions of each module, different manufacturing processes are used to manufacture the robot entity: 0.1mm thick PEEK material is used for the deformable and oriented modules; the drive module is formed by attaching a deformable module to a solution of skeletal muscle cells from newborn mice within the integrated mold, culturing and differentiating the cells.

[0049] The resin mold needs to be soaked in a release agent and cleaned with ultrapure water before PDMS is poured in.

[0050] The PDMS mold comprises three parts: a slot, a culture tank, and a main body. The slot is responsible for fixing the deformable module, and the culture tank is responsible for storing cell solution and culturing differentiation.

[0051] Water-bulb-like origami structures are three-dimensional structures based on origami techniques, resembling water bullets in shape. These structures are characterized by a series of folded planes, each composed of multiple small triangles. These triangles can be folded and rotated to change the structure's shape, achieving various deformation effects. The advantages of water-bulb-like origami structures include lightweight construction, high rigidity, strong deformability, and ease of manufacturing and assembly. Therefore, they have wide applications in engineering, construction, aerospace, and other fields. For example, water-bulb-like origami structures can be used to create lightweight buildings, deployable solar panels, and deformable robots.

[0052] Example 1

[0053] like Figures 1 to 5As shown, this invention designs a multi-degree-of-freedom bio-hybrid robot and its integrated fabrication method, which is of great significance for improving the motion performance of existing robots and achieving breakthroughs in motion performance. Specifically, a three-degree-of-freedom bio-hybrid robot system includes a deformable module 1, a drive module 2, and an orientation module 3. The drive module 2 is an engineered skeletal muscle ring. The orientation module 3 is attached to the deformable module 1, and the creases of the orientation module 3 coincide with the edge creases of the deformable module 1, which can constrain the motion direction of the deformable module 1. The drive module 2 is a centimeter-scale engineered skeletal muscle ring.

[0054] The deformation module 1 includes a fixing groove 11 and a deformation module crease 12, facilitating the connection between the drive module 2 and the deformation module 1. Cells implanted in the muscle ring grow and adhere to the deformation module 1.

[0055] The deformation module 1 is a water-bomb origami-like deformation structure, designed to mimic the body structure and movement mechanism of an earthworm. An earthworm uses axial force generated by its muscles to drive its bristles into the soil, completing a forward, wave-like peristaltic movement. Asymmetrical muscle contraction generates asymmetrical axial force for flexible turning, and tangential force enables large-angle rolling. Following the wrinkled outer skin of an earthworm, the deformation module uses a water-bomb origami-like structure to fit the large deformations of the earthworm's surface. Its origami unit size is 3mm × 3mm, and under multi-directional small-scale driving forces, it can achieve multi-degree-of-freedom deformation capabilities including axial and radial contraction, radial deflection, and circumferential torsion, and can return to its original shape after the driving force is removed.

[0056] The orientation module 3 is divided into a connecting section 31, a grounding section 32, and a crease 33, which enables the robot's crawling orientation function. The connecting section 31 is responsible for the reliable connection between the orientation module 3 and the deformation module 1. The grounding section 32 is designed based on the biomimetic mechanism of earthworm setae for directional crawling. Earthworm setae increase the friction force for backward movement by inserting into the ground, thus preventing the earthworm from moving backward. When moving forward or turning, the grounding section 32 is always in contact with the ground.

[0057] This invention has three motion modes, such as Figure 2 As shown, the working process is as follows:

[0058] Because of the biomimetic deformation pattern of the earthworm's body structure, the deformation module 1 can achieve the movement function of an earthworm under the drive of multi-directional forces.

[0059] When the robot is stationary, the grounding section 32 bends and deforms under its own weight, pressing firmly against the ground. When the electrodes simultaneously stimulate the center of the left and right sides of the drive module 2, the drive module 2 generates instantaneous symmetrical contraction forces on both sides, and the deformation module 1 only contracts axially towards the center at its rear end. When the deformation module 1 returns to its original shape after contraction and deformation, the tensile force generated by the deformation module 1 prevents the rear end from returning to its original position. With the combined effect of the tensile forces at both ends, the robot produces a forward crawling motion.

[0060] When the electrode individually stimulates the center of either the left or right side of the drive module 2, the drive module 2 generates instantaneous asymmetrical contraction forces on both sides, and the rear end of the deformation module 1 generates asymmetrical axial contraction. When the deformation module 1 returns to its original shape after contraction and deformation, it generates tensile force opposite to the original contraction direction. Under the combined action of the tensile force and the elastic deformation of the deformation module 1, the robot generates a turning motion towards the stimulated side.

[0061] When the electrode individually stimulates the lower edge of either the left or right side of the drive module 2, the stimulated side of the drive module 2 generates an instantaneous tangential contraction force. Driven by the tangential contraction force, the deformation module 1 rolls away from the stimulated side, and the robot generates a rolling motion away from the stimulated side.

[0062] like Figures 6 to 8 As shown, the present invention also provides an integrated manufacturing method for a multi-degree-of-freedom bio-hybrid robot, comprising the following steps:

[0063] The deformable module 1 and the orientation module 3 are prepared according to the designed creases by laser cutting-assisted folding and other processes, and the orientation module 3 is attached to the front end of the deformable module through the connecting section 31.

[0064] For the integrated manufacturing method, a resin mold 4 needs to be manufactured using DLP printing and PDMS needs to be poured in and cured before demolding to obtain an integrated culture PDMS mold 5. The connected deformation module 1 and orientation module 3 are fixed in the slot 51 of the PDMS mold 5. The cell solution is injected into the culture tank 52 of the PDMS mold 5 and cultured and differentiated to obtain the drive module 2. After the drive module 2 is formed, the integrated mold is destroyed, and the deformation module 1, orientation module 3 and drive module 2 are removed to obtain the complete robot.

[0065] It should be noted that when a component is referred to as being "attached to" another component, it can be directly on the other component or there may be an intervening component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. When a component is considered to be "set on" another component, it can be directly set on the other component or there may be an intervening component. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or device.

[0066] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0067] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Those skilled in the art can readily implement the present invention based on the accompanying drawings and the above description. However, any modifications, alterations, or variations made by those skilled in the art without departing from the scope of the present invention, utilizing the disclosed technical content, are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, or variations made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom bio-hybrid robot, characterized in that, include: Deformation module (1), driving module (2) and orientation module (3); The drive module (2) is axially sleeved around the deformation module (1), and the orientation module (3) is attached to the deformation module (1) and connected to the front edge of the deformation module (1); the drive module (2) is engineered muscle tissue, and the drive module (2) controls the deformation module (1) by contracting different parts of the muscle tissue. The deformation module (1) is a deformation structure similar to water-bomb origami; The driving module (2) is obtained by attaching the deformable module (1) to the skeletal muscle cell solution of newborn mice in an integrated mold and then culturing and differentiating it. The orientation module (3) includes a connecting section (31) and a grounding section (32), the connecting section (31) being connected to the deformation module (1); when the robot moves forward and turns, the grounding section (32) contacts the ground; an arched foot structure is formed between the connecting section (31) and the grounding section (32); The crease of the orientation module (3) coincides with the edge crease of the deformation module (1), which is used to constrain the movement direction of the deformation module (1).

2. The multi-degree-of-freedom bio-hybrid robot according to claim 1, characterized in that, The drive module (2) is a centimeter-scale engineered skeletal muscle ring.

3. The multi-degree-of-freedom bio-hybrid robot according to claim 1, characterized in that, The two sides of the deformation module (1) are provided with fixing grooves (11) for the drive module (2) to be stably connected to the deformation module (1).

4. The multi-degree-of-freedom bio-hybrid robot according to claim 1, characterized in that, Both the deformation module (1) and the orientation module (3) are made of 0.1 mm thick PEEK polyether ether ketone material.

5. The working method of a multi-degree-of-freedom bio-hybrid robot according to claim 1, characterized in that, include, When the robot is stationary, the grounding section (32) of the orientation module (3) bends and deforms due to its own weight and sticks to the ground; When the electrodes stimulate both sides of the drive module (2), the drive module (2) generates an instantaneous symmetrical contraction force on both sides, and the rear end of the deformation module (1) contracts towards the central axis; when the deformation module (1) finishes contracting and deforming and returns to its original shape, the tension generated by the deformation module (1) prevents the rear end from returning to its original position, so that under the cooperation of the tension at both ends of the deformation module (1), the robot generates a forward crawling motion. When the electrode individually stimulates one side edge of the driving module (2), the driving module (2) generates an instantaneous tangential contraction force on the stimulated side, and the deformation module (1) generates a roll away from the stimulated side under the drive of the tangential contraction force, and the robot generates a roll motion away from the stimulated side. When the electrode stimulates the center of one side of the drive module (2) alone, the two sides of the drive module (2) generate instantaneous asymmetric contraction force, and the rear end of the deformation module (1) generates asymmetric axial contraction; when the deformation module (1) finishes contraction and deformation and returns to its original shape, it generates tensile force opposite to the original contraction direction. Under the combined action of tensile force and elastic deformation of the deformation module (1), the robot generates a turning motion towards the stimulated side.

6. The method for manufacturing a multi-degree-of-freedom bio-hybrid robot according to claim 1, characterized in that, include, The bonded deformable module (1) and oriented module (3) are fixed in the slot (51) of the PDMS mold (5); After the cell solution is injected into the culture tank (52) of the PDMS mold (5) and cultured and differentiated, the driving module (2) is obtained. After the deformation module (1), orientation module (3) and driving module (2) are demolded, a multi-degree-of-freedom bio-hybrid robot is obtained.

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