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BIOLOCH BIO -mimetic structures for LOC omotion in the H uman body http://www.ics.forth.gr/bioloch. Paolo Dario Project Coordinator. Neuro-IT Workshop Leuven, December 3, 2002. IST-2001- 34181 - BIOLOCH BIO-mimetic structures for LOComotion in the Human body. - PowerPoint PPT Presentation
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BIOLOCH BIO-mimetic structures for LOComotion in the Human
bodyhttp://www.ics.forth.gr/bioloch
Neuro-IT WorkshopLeuven, December 3, 2002
Paolo DarioProject Coordinator
Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeThematic Priorities: IST-2001-VI.2.3Thematic Priorities: IST-2001-VI.2.3
Starting date: May 1, 2002End date: April 30, 2005Project Duration: 36 monthsFunding: Total costs: € 1.654.570 Community Funding: € 1.503.900
Partners: Scuola Superiore Sant’Anna (SSSA) -
Pisa (I) – Co-ordinator University of Bath, Department of
Mechanical Engineering (UBAH Mech Eng) – United Kingdom
Centro "E. Piaggio", Faculty of Engineering, University of Pisa (UniPi) - Italy
FORTH - Foundation for Research and Technology – Hellas (FORTH) - Greece
University of Tuebingen, Section for minimally invasive surgery (UoT) - Germany
Project Coordinator: Prof. Paolo Dario
CRIM Lab - Scuola Superiore S. AnnaPiazza Martiri della Libertà, 33
56127 PISA (ITALY)
Tel. +39-050-883400 / +39-050-883401Fax. +39-050-883402e-mail: [email protected] web site: http://www-crim.sssup.it
List of Principal Investigators of BIOLOCH Project Co-ordinator: Prof. Paolo DarioProject Manager: Dr. Arianna Menciassi
Technical Team Co-ordinatorsSSSA: Prof. Paolo DarioUBAH Mech Eng : Prof. Julian VincentUniPi: Prof. Danilo De RossiFORTH : Dr. Dimitris TsakirisUoT : Prof. Marc Schurr
IST-2001-IST-2001-3418134181 - BIOLOCH - BIOLOCH BIO-mimetic structures for LOComotion BIO-mimetic structures for LOComotion
in the Human bodyin the Human body
WHAT is the OBJECTIVE of the project
Objective• To understand motion and
perception systems of lower animal forms
• To design and fabricate mini- and micro-machines inspired by such biological systems.
Long term goal
A new generation of autonomous smart machines with:
• life-like interaction with the environment
• performance comparable to the animals by which they are inspired.
Envisaged application(s)The "inspection" problem in medicine ( microendoscopy); and…“Rescue” micro-robotics;Underground (space?) exploration
HOW we plan to ADDRESS the objectives
Locomotion models
Nereis
Adhesion models Suction
Earthworm
Setae friction
ApplicationsEndoscopyUndergroundlocomotion
Rescue
Enabling Technologies
Taxonomy of locomotion mechanisms and their classification according to engineering principles (1/3)Adhesion by: suction, friction, biological glue, van der
Waals force
Force Ease of replication
Type of surface
Stability
Suction
Friction
Biological Glue
Van der Waals
Force Ease of replication
Type of surface
Stability
Suction 2 5 Smooth 2
Friction 3 5 Rough 4
Biological Glue 1 2 Both 1
Van der Waals 5 1 Smooth 3
Taxonomy of locomotion mechanisms and their classification according to engineering principles (2/3)Locomotion by: paddle-worm, pedal,
earthworm/peristaltic, serpentine, rectilinear-serpentine
muscles
scale
Energy consumptio
nContact surface Stability
Ease of artificial
replication and control
Pedal
Peristlatic
Contract-anchor-extend
Serpentine
Rectilinear
Concertina
Sidewinding
Polypedal (4 legs)
Polypedal (6 legs)
Energy consumptio
nContact surface Stability
Ease of artificial
replication and control
Pedal 1 Rough, wet 5 5
Peristlatic 1 Rough, wet 5 4
Contract-anchor-extend
1 Rough, wet 5 4
Serpentine 4 Rough 5 2
Rectilinear 3 Flat 5 2
Concertina 3 Not enough frictional
5 2
Sidewinding 4 Not rigid (sandy soil) 5 1
Polypedal (4 legs)
5 All 3 1
Polypedal (6 legs)
2 All 4 2
Taxonomy of locomotion mechanisms and their classification according to engineering principles (3/3)
The nervous system of the earthworm is "segmented" just like the rest of the body the "brain" is located above the pharynx and is connected to the first ventral ganglion the brain is important for movement:
if the brain of the earthworm is removed, the earthworm will move continuously; if the first ventral ganglion is removed, the earthworm will stop eating and will not dig.
Each segmented ganglion gets sensory information from only a local region of its body and controls muscles only in this local region. Earthworms have touch, light, vibration and chemical receptors all along the entire body surface.
Earthworm: an example of biological perception-reaction mechanism
0
0,2
0,4
0,6
0,8
1
1,2
1,4
1,6
1,8
1 2 3 4 5 6 7 8 9 10
1 cm
1.5 cm
2 cm
2.5 cm
Force / Step ratio, „grasping leg“, muscular attachment
Medical specifications
Parameters forwalking inside the colon• Forces• Wall elasiticity
Mesenteric hazards:
• Tears
• Ruptures
Parameters forcreeping insidethe colon• With tail• Without tail
Colonic hazards• Perforation
Mesenteric resistance
Colonic wall resistance
Force / step ratioDevice advancement forces
Force pattern overviewForce pattern overview
Description of force parameters of the colonic tract in interaction with endoscopic devices and techniques
Design and fabrication of bio-inspired adhesion mechanisms
(a) normal configuration; (b) flow in; (c) flow out
Friction is enhanced when the compliant tips
are pushed outward
When sliding part moves upward: a vacuum is generated (sucker can work); the membrane is stretched (hooks can grasp the tissue)
Cylinder of polimeric material (Nylon)
Aluminium hooks are used to create a special wax mould to fill with Epotex (epoxy bicomponent resin).
Model and simulation of the polychaete locomotion mechanism
The polychaete (paddle-worm) can move in water or mud environments thanks to a sinusoidal motion joined with a passive motion of lateral paddles. The motion waves are perpendicular to the locomotion direction. The friction between the surface and the paddles is a parameter which can be adjusted.
Model and simulation of the inchworm/peristaltic locomotion mechanism
tx
x
txxtx
tx
x
rrr
xr
,
0
,2
0,
2,
1
1
Trajectory of a generic point on the surface of the Earthworm expressed as % of the length
Small radial displacements (<0.5%) corresponds to long axial displacements (>5%), which is optimal for locomotion
Enabling technologies: design paradigm
Smart actuators for
active membranes
Swimming and cilia robotic ion-polymer metal
composites (IPMC) structures
Shape memory pol.
Shape memory gel submitted to coiled
between 50°C and room temperature
Active membrane
Enabling technologies: an outline on smart actuators
ATTACHMENTSENSATION PROPULSION
yes
LOOP
ATTACHMENT
no
Figure B4.1 –Perception –reaction loop
Enabling technologies: sensing and control
3 axis force microsensor
1 mm
F
Section of sensor 3D model
Preliminary technological implementations
Friction-based minirobot: two counter motors, an eccentric mass, asymmetrical skates
Artificial paddle-worm
Inchworm locomotion with “biological” glue
IPMC actuator for hook protruding
WHAT would be the IMPACT of the project
The main expected results of BIOLOCH are new design paradigms and engineering models for an entirely new generation of biomimetic mini- and micro-machines able to navigate in tortuous and “soft” environments in a life-like manner.
To exploit a sophisticated biomimetic hardware structure (incorporating complex mechanisms, sensors, actuators and embedded signal processing) to explore advanced biomimetic control strategies.
Proposed VISIONARY ACTIONS for a future FET program in the 6FP
Collaborative ensemble of micro-burrowers (proposal for visionary actions starting from the BIOLOCH Project?)
Autonomous micro-burrowers, able to operate in a collaborative manner in the pursuit of a common goal underground. Such a group of micro-burrowers could be valuable in the context of search and rescue (S&R) operations for people trapped in buildings, mines, etc., which may have collapsed as a result of earthquakes, attacks, etc. These sensor-carrying robots could be sent to explore this underground, unstructured environment, possibly having to dig through rubble, in order to gain access to victims, structures or equipment. The solutions that biological organisms (e.g. ants, bees) have developed for communication, coordination, cooperative localization and planning, could provide valuable insights in such an endeavor.
ULTER-ENDO - Ultimate Microendoscopy (EoI – IP)The objective of the project is to incorporate in microendoscopes technologies and tools which would allow a revolution rather that an evolution of current endoscopes and therapeutic procedures… Decreasing the size of endoscopic devices down to 1-2 millimeter (in diameter) by keeping the same functionalities of traditional tools involves a dramatic effort in terms of design capabilities, fabrication technologies, and integration techniques. This approach requires a strong activity which involves basic and applied research with no incremental but totally innovative features:
the wireless “super”pill and the wired brain -endoscope