A biological hybrid driver with high-efficiency gradient connection structure and working method

Abstract

The application discloses a biological hybrid driver with a high-efficiency gradient connection structure and a working method, the driver is composed of skeletal muscle tissue, a gradient connection structure and a mechanical framework, the skeletal muscle tissue is connected with the gradient connection structure through proliferation and differentiation of myoblasts; the mechanical framework comprises a support and a crossbeam; the support is arranged on the two sides of the crossbeam respectively; the gradient connection structure comprises parallel fiber bundles, sinusoidal fiber bundles and cross fiber bundles; the parallel fiber bundles are located at the middle part of the gradient connection structure, the sinusoidal fiber bundles are arranged on the two sides of the parallel fiber bundles, and the cross fiber bundles are arranged on one side of the sinusoidal fiber bundles and connected with the support, so that the problem of limited driving performance of the biological hybrid robot is solved, the high-efficiency connection structure can store and release energy, thereby guaranteeing efficient mechanical transmission between the living body and the mechanical body and improving the motion performance of the biological hybrid robot system.

Description

Technical Field

[0001] This invention belongs to the field of bio-hybrid actuator technology, and relates to a bio-hybrid actuator with an efficient gradient connection structure and its working method. Background Technology

[0002] Biohybrid robots are a novel type of robotic system that organically combines biological systems with electromechanical systems at the cellular and tissue scales. They possess the advantages of both biological systems and traditional electromechanical systems, including high energy efficiency, high power-to-weight ratio, self-repair, high precision, high strength, and repeatability. Biohybrid robots have become a research frontier and hot topic in the international robotics field, attracting significant attention from numerous renowned universities and research institutes both domestically and internationally, leading to rapid development in related research areas. Biohybrid robots have significant potential applications in fields such as biomedicine and environmental monitoring, laying the foundation for constructing a new generation of life-like organoids and tissues based on the fusion of biological and electromechanical systems.

[0003] While existing bio-hybrid robotic systems possess relatively complex biomimetic motion capabilities, the lack of in-depth research into efficient actuation technologies for living organisms on mechanical bodies significantly limits the motion capabilities of ideal bio-hybrid robotic systems. The connection method between the living organism and the mechanical body is one of the key factors affecting the motion performance of bio-hybrid robotic systems. Current bio-hybrid robotic systems rely on biochemical mechanisms or mechanical means to directly fix the living organism to the mechanical body. Biochemical methods primarily use fibronectin reagents to connect the living organism and the mechanical body; mechanical methods mainly use microgrooves, intermediate components, and other methods to achieve the connection. Due to the significant differences in the physicochemical and mechanical properties of living organisms and mechanical bodies, the interface between them is often a weak point in the transmission of force, and current methods do not provide satisfactory force transmission performance. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention aims to provide a bio-hybrid actuator and its working method with an efficient connection structure, which solves the problem of limited driving performance of bio-hybrid robots. Its efficient connection structure can store and release energy, thereby ensuring efficient mechanical transmission between living organisms and mechanical bodies and improving the motion performance of bio-hybrid robot systems.

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

[0006] A bio-hybrid actuator with an efficient gradient connection structure, comprising,

[0007] Skeletal and muscular tissues, gradient connection structures, and mechanical skeleton;

[0008] The skeletal muscle tissue and the gradient connection structure are connected through the proliferation and differentiation of myoblasts;

[0009] The mechanical frame includes pillars and crossbeams; the pillars are respectively arranged on both sides of the crossbeams; the gradient connection structure includes parallel fiber bundles, sinusoidal fiber bundles and cross fiber bundles; the parallel fiber bundles are located in the middle of the gradient connection structure, the sinusoidal fiber bundles are arranged on both sides of the parallel fiber bundles, and the cross fiber bundles are arranged on one side of the sinusoidal fiber bundles and connected to the pillars.

[0010] Preferably, the mechanical skeleton is made of Ecoflex material.

[0011] Preferably, the support column is provided with micropores, and the cross fiber bundles are connected to the micropores of the support column.

[0012] Preferably, the gradient connection structure and the mechanical skeleton are connected to the micropores of the cross fiber bundles and the support column by molding through the melting and solidification of Ecoflex solution.

[0013] Preferably, the amplitude of the sinusoidal fiber bundle is 10. The cycle is 100 .

[0014] Preferably, a pad is provided at the bottom of the support column.

[0015] Preferably, the gradient connection structure is made of PCL material, and the skeletal muscle tissue is myoblast cultured tissue.

[0016] Preferably, the parallel fiber bundles, sinusoidal fiber bundles, and cross fiber bundles are all printed into an integrated gradient connection structure using an electrospinning device.

[0017] Preferably, the parallel fiber bundles are encapsulated by hydrogel to form a three-dimensional scaffold, and the skeletal muscle tissue is prepared by culturing, proliferating and differentiating myoblasts on the three-dimensional scaffold.

[0018] A method for operating a bio-hybrid actuator with an efficient gradient connectivity structure includes:

[0019] In the normal state, the musculoskeletal tissue is relaxed, the crossbeam of the mechanical skeleton remains horizontal, and the support is perpendicular to the crossbeam.

[0020] When in a contracted state, the skeletal muscle tissue contracts under the action of electrical stimulation, the sinusoidal fiber bundles are stretched under the action of contraction force, the parallel fiber bundles store energy, the supports of the mechanical skeleton contract inward under the action of the traction of the cross fiber bundles, and the crossbeams bend upward.

[0021] When in a relaxed state, the musculoskeletal tissue relaxes, the sinusoidal fiber bundles contract, the parallel fiber bundles release energy, the supports of the mechanical skeleton move outward, and the original shape is restored.

[0022] Compared with the prior art, the present invention has the following beneficial technical effects:

[0023] This invention proposes a bio-hybrid actuator with a highly efficient gradient connection structure and its operating method. The actuator consists of skeletal muscle tissue, a gradient connection structure, and a mechanical skeleton. The bio-hybrid actuator of this invention connects the muscle tissue and the mechanical skeleton through the gradient connection structure. This motion mechanism simulates the movement mechanism of the muscle-tendon-bone life system in nature, achieving the transfer of mechanical properties from muscle to bone through the tendon. The muscle tissue portion is a cell culture tissue energy supply module, used to provide the actuator with the motion power. During the actuation process, the gradient connection structure first stores the energy generated by muscle contraction, and releases energy to the mechanical skeleton when the muscle relaxes, thereby realizing the mechanical transfer from skeletal muscle tissue to the mechanical skeleton. The gradient connection structure is composed of parallel fiber bundles, sinusoidal fiber bundles, and cross fibers, storing and releasing the energy generated by the muscle tissue during movement, realizing the transfer of mechanical properties from muscle tissue to the mechanical skeleton. The mechanical skeleton is a component made of Ecoflex material, used to achieve bending and deformation movements.

[0024] This invention also provides a method for operating a bio-hybrid actuator with a highly efficient gradient connection structure. Under electrode stimulation, muscle tissue contracts, and the gradient connection structure connected to it stores energy. The mechanical skeleton bends under the traction of fiber bundles. When the muscle tissue relaxes, the gradient connection structure releases energy to the mechanical skeleton, and the mechanical skeleton returns to its original state. The actuator generates one motion. This solves the problem of limited driving performance of bio-hybrid robots. Through the energy storage-release mechanism of the gradient connection structure, efficient mechanical performance transfer from muscle tissue to the mechanical skeleton is achieved. Its efficient connection structure can store and release energy, thereby ensuring efficient mechanical transfer between the living organism and the mechanical body, thus improving the motion performance of the bio-hybrid robot system.

[0025] Furthermore, the modular design and manufacturing method of this invention can realize the standardized manufacturing of bio-hybrid actuators and lay a realistic foundation for future mass production. The modular manufacturing method also helps to reduce manufacturing costs.

[0026] Furthermore, the gradient connection structure of the present invention includes parallel fiber bundles, sinusoidal fiber bundles, and crossed fiber bundles. The parallel fiber bundles facilitate the inoculation, proliferation, and differentiation of myoblasts to form muscle tissue.

[0027] Furthermore, this invention provides a new approach for the mass modular manufacturing of bio-hybrid actuators, laying the foundation for the development of novel bio-hybrid actuators and new bio-hybrid robot technologies.

[0028] Furthermore, the sinusoidal fiber bundle of the present invention has an amplitude of 10 μm and a period of 100 μm, and its elastic network structure can better store and release the energy generated during muscle contraction, thus transmitting mechanical properties. Attached Figure Description

[0029] Figure 1 This is a structural diagram of a bio-hybrid actuator;

[0030] Figure 2 This is a cross-sectional view of the overall structure of the bio-hybrid actuator;

[0031] Figure 3 A motion diagram of a biological hybrid actuator;

[0032] Figure 4 Flowchart of the overall manufacturing process for a bio-hybrid actuator;

[0033] In the diagram: 1. Skeletal muscle tissue; 2. Gradient connection structure; 3. Mechanical skeleton; 21. Parallel fiber bundles; 22. Sinusoidal fiber bundles; 23. Cross fiber bundles; 31. Columns; 32. Beams; 33. Micropores. Detailed Implementation

[0034] 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.

[0035] 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.

[0036] This invention designs a bio-hybrid actuator with a highly efficient connection structure and its modular design method, whose motion mechanism mimics the natural musculoskeletal system. In nature, frogs are among the creatures with the strongest jumping ability. Their efficient jumping is due to the tendons that create a tight connection between muscles and bones. During movement, the tendons act as energy storage and release mechanisms, ensuring efficient mechanical transmission between bones and muscles. Therefore, this invention, a bio-hybrid actuator with a gradient connection structure, is designed to connect musculoskeletal tissue and the mechanical skeleton. This gradient connection structure is significant for improving the mechanical transmission performance from living organisms to mechanical bodies and addressing the current limitation of the driving performance of bio-hybrid robots. Specifically, as... Figure 1 As shown, a bio-hybrid actuator with a highly efficient connectivity structure includes skeletal muscle tissue 1, a gradient connectivity structure 2, and a mechanical skeleton 3. The skeletal muscle tissue 1 is myoblast cultured tissue, and the mechanical skeleton 3 is made of Ecoflex material, such as... Figure 2 As shown, the gradient connection structure 2 includes parallel fiber bundles 21, sinusoidal fiber bundles 22, and cross fiber bundles 23. The parallel fiber bundles 21 are located in the middle of the gradient connection structure 2, the sinusoidal fiber bundles 22 are arranged on both sides of the parallel fiber bundles 21, and the cross fiber bundles 23 are arranged on one side of the sinusoidal fiber bundles 22 and connected to the support column 31.

[0037] Parallel fiber bundles 21 are encapsulated in hydrogel to form a three-dimensional scaffold. Myoblasts are seeded on the three-dimensional scaffold, and parallel fiber bundles 21 facilitate better cell proliferation and differentiation.

[0038] The sinusoidal fiber bundle 22 has an amplitude of 10. The cycle is 100 Its elastic network structure can better store and release the energy generated during muscle contraction, thus transferring mechanical properties.

[0039] Crossed fiber bundles 23 are connected to micropores 33 on the support column 31 of the mechanical skeleton 3.

[0040] The mechanical frame 3 has micro-holes 33 at the lower ends of the two pillars 31 to facilitate the connection of cross fiber bundles 23. The two pillars 31 of the mechanical frame 3 are connected by a crossbeam 32 in the middle. Under normal conditions, the two pillars 31 and the crossbeam 32 are perpendicular to each other.

[0041] A pad with a smooth surface is designed under the support of the mechanical frame 3 to facilitate the movement of the mechanical frame 3.

[0042] This invention has three motion states, such as Figure 3As shown, the details are as follows:

[0043] In the normal state, the musculoskeletal tissue 1 is in a relaxed state, the middle crossbeam 32 of the mechanical skeleton 3 remains horizontal, and the support 31 is perpendicular to the middle crossbeam 32.

[0044] When in a contracted state, the skeletal muscle tissue 1 contracts under the action of electrical stimulation, the gradient connection structure 2 stores energy, the two pillars 31 of the mechanical skeleton 3 contract inward under the traction of the connection structure, and the elastic beam bends upward.

[0045] When in a relaxed state, the musculoskeletal tissue 1 relaxes, the gradient connection structure 2 releases energy, and the two pillars 31 of the mechanical skeleton 3 move outward, restoring the original shape.

[0046] The present invention also provides a method for manufacturing a bio-hybrid actuator with a highly efficient connection structure, comprising the following steps:

[0047] Based on the working principle of the actuator, the actuator is decomposed into three major modules: muscle tissue module, gradient connection structure and mechanical skeleton module. Each module adopts a standardized design, specifying the size and structure of each set of mating modules to achieve the purpose of rapid assembly.

[0048] like Figure 4 As shown, the three modules are manufactured using different methods: the trapezoidal connection module is made of PCL material, and the required parallel, sinusoidal and cross-connected fiber structures are printed using an electrospinning device; the electrospinning device includes a heater, a receiver, and a spinneret, with a high voltage applied between the receiver and the spinneret. The printed PCL material is heated and melted into a liquid in the heater, forming a jet under the action of a strong electric field. The jet is stretched in the electric field, forming nanofibers that are deposited on the receiver.

[0049] The skeletal muscle tissue 1 is manufactured by culturing, proliferating, and differentiating myoblasts on a parallel fiber-coated scaffold; the mechanical skeleton 3 is made of Ecoflex material and produced using a molding process.

[0050] The three main modules are manufactured and connected in accordance with the designed overall structure of the driver to obtain the complete driver unit.

[0051] Example 1

[0052] like Figure 1 As shown, a bio-hybrid actuator with a highly efficient connection structure includes skeletal muscle tissue 1, a gradient connection structure 2, and a mechanical skeleton 3.

[0053] The skeletal muscle tissue 1 is myoblast cultured tissue, the mechanical skeleton 3 is molded from Ecoflex material, and the gradient connection structure 2 has a parallel fiber bundle 21 at one end, a sinusoidal fiber bundle 22 in the middle, and a cross fiber bundle 23 at the other end.

[0054] like Figure 2 As shown, the skeletal muscle tissue 1 is connected to the mechanical skeleton 3 via a gradient connection structure 2. The mechanical skeleton 3 has micropores 33 at its lower ends on its two pillars 31. The skeletal muscle tissue 1 is connected to the gradient connection structure 2 by myoblasts being seeded, proliferating, and differentiating on parallel fiber bundles 21. The sinusoidal fiber bundles 22 are numerous with an amplitude of 10. The cycle is 100 The gradient connection structure 2 is a collection of sinusoidal fibers, and is connected to the mechanical skeleton 3 by the cross fiber bundle 23 and the micropores 33 on the mechanical skeleton 3.

[0055] The movement mechanism of the bio-hybrid actuator of this invention is as follows:

[0056] Under electrical pulse stimulation, the skeletal muscle tissue 1 contracts, and the sinusoidal fiber bundles 22 are stretched under the contractile force. The gradient connection structure 2 stores the energy generated by the muscle tissue, simultaneously pulling the two supports 31 of the mechanical frame 3 towards the center, causing the central flexible beam 32 to bend upwards. As the skeletal muscle tissue 1 relaxes, the sinusoidal fiber bundles 22 contract, releasing the stored energy to the mechanical frame 3. At the same time, the beam 32 returns to its original state under its own elasticity, and the supports 31 move outwards, returning to their original positions. This cycle repeats continuously, and the mechanical frame 3 undergoes corresponding reciprocating bending deformation and deformation recovery actions in response to the contraction and extension of the skeletal muscle tissue 1.

[0057] Example 2

[0058] A modular design and manufacturing method for a bio-hybrid actuator with a highly efficient connection structure includes the following steps:

[0059] like Figure 4 As shown, the modular design method involves decomposing the actuator into three main modules based on its working principle: a muscle tissue module, a gradient connection structure, and a mechanical skeleton module. After determining the connection method and overall structure of each module, the overall dimensions of the actuator are selected. Under the constraints and specifications of these overall dimensions, the basic dimensions of each module are determined according to the designed fit, ensuring that the dimensions of each module are symmetrical and balanced.

[0060] The mechanical skeleton 3 is designed using fixed-dimensional modeling software. The width, length, and height of the mechanical skeleton 3 are determined by the overall dimensions of the actuator. The gradient connection structure 2 is connected to the mechanical skeleton 3. The width and length of the gradient connection structure 2 can be specified based on the dimensions of the micropores 33 of the mechanical skeleton 3 and the overall length of the mechanical skeleton 3. The thickness of the gradient connection structure 2 is determined by the width of the actuator. The overall dimensions of the skeletal muscle tissue 1 are determined by the overall dimensions of the gradient connection structure 2 and the length of the actuator. The micropores 33 are drilled in the support column.

[0061] Modular manufacturing method: After determining the structure and dimensions of each module, different manufacturing processes are used to manufacture the actuator entities. The gradient connection structure 2 is manufactured using PCL material via electrospinning. The skeletal muscle tissue 1 is manufactured by culturing, proliferating, and differentiating myoblasts on parallel fiber bundles 21. The mechanical skeleton 3 is made of Ecoflex material and manufactured using a molding process.

[0062] The mechanical skeleton 3 is made of Ecoflex material and consists of two liquids, A and B. It is manufactured using a molding process: the A and B solutions of PDMS are added to two beakers using droppers, then poured into a petri dish and mixed in equal proportions. The mixture is stirred to form a PDMS mixed solution. A molding tool is used to mold out a large number of micropores on the mechanical body. The petri dish is placed in a 60°C constant temperature incubator and kept warm for 30 minutes before being removed to obtain a solidified elastomer.

[0063] For the gradient connection structure 2, the Python source file for the connecting fiber structure was imported into the electrospinning equipment, and parallel, sinusoidal, and cross-connected fiber structures were printed using PCL material. After spinning, the sample was placed in a vacuum drying oven for 1 day to remove any possible residual organic solvents.

[0064] The overall integration process of the actuator is as follows: the skeletal muscle tissue 1 and the gradient connection structure 2 are connected through the proliferation and differentiation of myoblasts, and the gradient connection structure 2 and the mechanical skeleton 3 are connected through the molding method of melting and solidifying Ecoflex solution to achieve the connection of the cross fiber bundles 23 and the micropores 33.

[0065] In summary, this invention proposes a bio-hybrid actuator with a highly efficient gradient connection structure, comprising skeletal muscle tissue, a gradient connection structure, and a mechanical skeleton. The skeletal muscle tissue portion is a cell-cultured tissue power supply module, providing the actuator with the propulsion for movement. The gradient connection structure, composed of parallel fiber bundles, sinusoidal fiber bundles, and crossed fiber bundles, stores and releases energy generated by the muscle tissue during movement, achieving the transfer of mechanical properties from the skeletal muscle tissue to the mechanical skeleton. The mechanical skeleton is a component manufactured using Ecoflex material, used to achieve bending and deformation movements.

[0066] Its basic working principle is as follows: under electrode stimulation, muscle tissue contracts, and the gradient connection structure connected to it stores energy, causing the mechanical skeleton to bend under the traction of fiber bundles; when the muscle tissue relaxes, the gradient connection structure releases energy to the mechanical skeleton, the mechanical skeleton returns to its original state, and the actuator generates one movement. This invention mainly addresses the problem of limited actuation performance of bio-hybrid robots. Through the energy storage-release mechanism of the gradient connection structure, it achieves efficient mechanical performance transfer from muscle tissue to the mechanical skeleton. The modular design and manufacturing method enables standardized manufacturing of bio-hybrid actuators and lays a realistic foundation for future mass production.

[0067] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or it can be in a centered component. When a component is said to be "connected to" another component, it can be directly connected to the other component or it may also be in a centered component. When a component is said to be "set to" another component, it can be directly set on the other component or it may also be in a centered component.

[0068] 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.

[0069] 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 bio-hybrid actuator with a highly efficient gradient connection structure, characterized in that, include, Skeletal muscle tissue (1), gradient connection structure (2), and mechanical skeleton (3); The skeletal muscle tissue (1) and the gradient connection structure (2) are connected through the proliferation and differentiation of myoblasts; The mechanical frame (3) includes a support column (31) and a crossbeam (32); the support column (31) is respectively arranged on both sides of the crossbeam (32); the gradient connection structure (2) includes a parallel fiber bundle (21), a sinusoidal fiber bundle (22) and a cross fiber bundle (23); the parallel fiber bundle (21) is located in the middle part of the gradient connection structure (2), the sinusoidal fiber bundle (22) is arranged on both sides of the parallel fiber bundle (21), the cross fiber bundle (23) is arranged on the left or right side of the sinusoidal fiber bundle (22), and the cross fiber bundle (23) is connected to the support column (31).

2. The bio-hybrid actuator with a highly efficient gradient connection structure according to claim 1, characterized in that, The mechanical frame (3) is made of Ecoflex material.

3. A bio-hybrid actuator with a highly efficient gradient connection structure according to claim 1, characterized in that, The support column (31) is provided with micropores (33), and the cross fiber bundle (23) is connected to the micropores (33).

4. A bio-hybrid actuator with a highly efficient gradient connection structure according to claim 3, characterized in that, The gradient connection structure (2) and the mechanical skeleton (3) are connected by the cross fiber bundle (23) and the micropore (33) through the molding method of Ecoflex solution melting and solidification.

5. A bio-hybrid actuator with a highly efficient gradient connection structure according to claim 1, characterized in that, The amplitude of the sinusoidal fiber bundle (22) is 10. The cycle is 100 .

6. A bio-hybrid actuator with a highly efficient gradient connection structure according to claim 1, characterized in that, A pad is provided at the bottom of the support column (31).

7. A bio-hybrid actuator with a highly efficient gradient connection structure according to claim 1, characterized in that, The gradient connection structure (2) is made of PCL material, and the skeletal muscle tissue (1) is myoblast culture tissue.

8. A bio-hybrid actuator with a highly efficient gradient connection structure according to claim 1, characterized in that, The parallel fiber bundle (21), sinusoidal fiber bundle (22) and cross fiber bundle (23) are all printed into an integrated gradient connection structure (2) by electrospinning equipment.

9. A bio-hybrid actuator with a highly efficient gradient connection structure according to claim 1, characterized in that, The parallel fiber bundles (21) are coated with hydrogel to form a three-dimensional scaffold, and the skeletal muscle tissue (1) is prepared by culturing, proliferating and differentiating myoblasts on the three-dimensional scaffold.

10. A method for operating a bio-hybrid actuator with a highly efficient gradient connection structure, based on the bio-hybrid actuator with a highly efficient gradient connection structure according to any one of claims 1-9, characterized in that, include: When in the normal state, the musculoskeletal tissue (1) is in a relaxed state, the crossbeam (32) of the mechanical skeleton (3) remains horizontal, and the support (31) and the crossbeam (32) are perpendicular to each other; When in a contracted state, the skeletal muscle tissue (1) contracts under the action of electrical stimulation, the sinusoidal fiber bundle (22) is stretched under the action of contraction force, the parallel fiber bundle (21) stores energy, the support (31) of the mechanical skeleton (3) contracts inward under the traction of the cross fiber bundle (23), and the crossbeam (32) bends upward. When in a relaxed state, the skeletal muscle tissue (1) relaxes, the sinusoidal fiber bundle (22) contracts, the parallel fiber bundle (21) releases energy, and the support (31) of the mechanical skeleton (3) moves outward and restores its original shape.

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