Bio-syncretic robots consisting of both living biological materials and non-living systems possess desirable attributes such as high energy efficiency, intrinsic safety, high sensitivity, and self-repairing capabiliti...Bio-syncretic robots consisting of both living biological materials and non-living systems possess desirable attributes such as high energy efficiency, intrinsic safety, high sensitivity, and self-repairing capabilities. Compared with living biological materials or non-living traditional robots based on elec- tromechanical systems, the combined system of a bio-syncretic robot holds many advantages. Therefore, developing bio-syncretic robots has been a topic of great interest, and significant progress has been achieved in this area over the past decade. This review systematically summarizes the development of bio-syncretic robots. First, potential trends in the development of bio-syncretic robots are discussed. Next, the current performance of bio-syncretic robots, including simple movement and controllability of velocity and direction, is reviewed. The living biological materials and non-living materials that are used in bio-syncretic robots, and the corresponding fabrication methods, are then discussed. In addition, recently developed control methods for bio-syncretic robots, including physical and chemical control methods, are described. Finally, challenges in the development of bio-syncretic robots are discussed from multiple viewpoints, including sensing and intelligence, living and non-living materials, control approaches, and information technology.展开更多
We study the critical scaling and dynamical signatures of fractionalized excitations at two different deconfined quantum critical points(DQCPs)in an S=1/2 spin chain using the time evolution of infinite matrix product...We study the critical scaling and dynamical signatures of fractionalized excitations at two different deconfined quantum critical points(DQCPs)in an S=1/2 spin chain using the time evolution of infinite matrix product states.The scaling of the correlation functions and the dispersion of the conserved current correlations explicitly show the emergence of enhanced continuous symmetries at these DQCPs.The dynamical structure factors in several different channels reveal the development of deconfined fractionalized excitations at the DQCPs.Furthermore,we find an effective spin-charge separation at the DQCP between the ferromagnetic(FM)and valence bond solid(VBS)phases,and identify two continua associated with different types of fractionalized excitations at the DQCP between the X-direction and Z-direction FM phases.Our findings not only provide direct evidence for the DQCP in one dimension but also shed light on exploring the DQCP in higher dimensions.展开更多
Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patie...Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patients in rehabilitation restrict the outcomes of exoskeleton-based therapy. The study presents an Unpowered Shoulder Complex Exoskeleton (USCE), consisting of Shoulder Girdle Mechanism (SGM), Ball-and-Socket Joint Mechanism (BSM), Gravity Compensating Mechanism (GCM) and Adjustable Alignment Design (AAD), to achieve self-rehabilitation of shoulder via energy transfer from the healthy upper limb to the affected counterpart of post-stroke hemiplegic patients. The SGM and AAD are designed to improve the kinematic compatibility by compensating for displacements of the glenohumeral joint with the adaptable size of USCE for different wearers. The BSM and GCM can transfer the body movement and energy from the healthy half of the body to the affected side without external energy input and enhance the self-participation with sick posture correction. The experimental results show that the USCE can provide high kinematic compatibility with 90.9% movement similarity between human and exoskeleton. Meanwhile, the motion ability of a post-stroke patient’s affected limb can be increased through energy transfer. It is expected that USCE can improve outcomes of home-based self-rehabilitation.展开更多
Single-cell analysis has been considered as a promising way to uncover the underlying mechanisms guiding the mysteries of life activities, which con siderably complements traditio nal en semble assays and yields novel...Single-cell analysis has been considered as a promising way to uncover the underlying mechanisms guiding the mysteries of life activities, which con siderably complements traditio nal en semble assays and yields novel in sights into cell biology. The adve nt of atomic force microscopy (AFM) provides a potent tool for investigati ng the structures and properties of n ative biological samples at the micro/na no scale un der near-physiological conditions, which promotes the studies of single-cell behaviors. In the past decades, AFM has achieved great success in single-cell observation and manipulation for biomedical applications, demonstrating the excellent capabilities of AFM in addressing biological issues at the single-cell level with unprecedented spatiotemporal resolution. In this article, we review the recent advances in single-cell analysis that has been made with the utilization of AFM, and provide perspectives for future progression.展开更多
The advent of atomic force microscopy(AFM)provides a powerful tool for investigating the behaviors of single living cells under near physiological conditions.Besides acquiring the images of cellular ultra-microstructu...The advent of atomic force microscopy(AFM)provides a powerful tool for investigating the behaviors of single living cells under near physiological conditions.Besides acquiring the images of cellular ultra-microstructures with nanometer resolution,the most remarkable advances are achieved on the use of AFM indenting technique to quantify the mechanical properties of single living cells.By indenting single living cells with AFM tip,we can obtain the mechanical properties of cells and monitor their dynamic changes during the biological processes(e.g.,after the stimulation of drugs).AFM indentation-based mechanical analysis of single cells provides a novel approach to characterize the behaviors of cells from the perspective of biomechanics,considerably complementing the traditional biological experimental methods.Now,AFM indentation technique has been widely used in the life sciences,yielding a large amount of novel information that is meaningful to our understanding of the underlying mechanisms that govern the cellular biological functions.Here,based on the authors’own researches on AFM measurement of cellular mechanical properties,the principle and method of AFM indentation technique was presented,the recent progress of measuring the cellular mechanical properties using AFM was summarized,and the challenges of AFM single-cell nanomechanical analysis were discussed.展开更多
Membrane proteins are crucial in cell physiological activities and are the targets for most drugs.Thus,investigating the behaviors of membrane proteins not only provide deeper insights into cell function,but also help...Membrane proteins are crucial in cell physiological activities and are the targets for most drugs.Thus,investigating the behaviors of membrane proteins not only provide deeper insights into cell function,but also help disease treatment and drug development.Atomic force microscopy is a unique tool for investigating the structure of membrane proteins.It can both image the morphology of single native membrane proteins with high resolution and,via single-molecule force spectroscopy(SMFS),directly measure their biophysical properties during molecular physiological activities such as ligand binding and protein unfolding.In the context of molecular biomechanics,SMFS has been successfully used to understand the structure and function of membrane proteins,complementing the static three-dimensional structures of proteins obtained by X-ray crystallography.Here,based on the authors’antigen-antibody binding force measurements in clinical tumor cells,the principle and method of SMFS is discussed,the progress in using SMFS to characterize membrane proteins is summarized,and challenges for SMFS are presented.展开更多
In this work, a method based on atomic force microscopy (AFM) approach-reside-retract experiments was established to simultaneously quantify the elastic and viscoelastic properties of single cells. First, the elastic ...In this work, a method based on atomic force microscopy (AFM) approach-reside-retract experiments was established to simultaneously quantify the elastic and viscoelastic properties of single cells. First, the elastic and viscoelastic properties of normal breast cells and cancerous breast cells were measured, showing significant differences in Young’s modulus and relaxation times between normal and cancerous breast cells. Remarkable differences in cellular topography between normal and cancerous breast cells were also revealed by AFM imaging. Next, the elastic and viscoelasitc properties of three other types of cell lines and primary normal B lymphocytes were measured; results demonstrated the potential of cellular viscoelastic properties in complementing cellular Young’s modulus for discerning different states of cells. This research provides a novel way to quantify the mechanical properties of cells by AFM, which allows investigation of the biomechanical behaviors of single cells from multiple aspects.展开更多
Exoskeleton robots have demonstrated the potential to rehabilitate stroke dyskinesia.Unfortunately,poor human-machine physiological coupling causes unexpected damage to human of muscles and joints.Moreover,inferior hu...Exoskeleton robots have demonstrated the potential to rehabilitate stroke dyskinesia.Unfortunately,poor human-machine physiological coupling causes unexpected damage to human of muscles and joints.Moreover,inferior humanoid kinematics control would restrict human natural kinematics.Failing to deal with these problems results in bottlenecks and hinders its application.In this paper,the simplified muscle model and muscle-liked kinematics model were proposed,based on which a soft wrist exoskeleton was established to realize natural human interaction.Firstly,we simplified the redundant muscular system related to the wrist joint from ten muscles to four,so as to realize the human-robot physiological coupling.Then,according to the above human-like musculoskeletal model,the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the wrist.The results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3%and 35.6%,respectively.Additionally,the humanoid motion trajectories similarity of the robot reached 91.5%.Stroke patients could recover 90.3%of natural motion ability to satisfy for most daily activities.This work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.展开更多
Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in robotics.Actuat...Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in robotics.Actuation as the main operation mechanism relates to the robotic overall performance.Therefore,biosyncretic robots actuated by living biological actuators have attracted increasing attention.However,innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic robots.In this work,a muscle tissue-based biosyncretic swimmer with a manta ray.inspired propelling mode has been developed.What is more,to improve the stable controllability of the biosyncretic swimmer,a dynamic control method based on circularly distributed multiple electrodes(CDME)has been proposed.In this method,the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the adtuation tissue of the dynamic swimmer.Therefore,the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be eliminated.Finally,the biosyncretic robot has demonstrated stable,controllable,and efective swimming,by adjusting the electric stimulation pulse direction,amplitude,and frequency.This work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.展开更多
基金This work was supported by the National Natural Science Foundation of China (61673372, 61522312, 91748212, and 61433017), the Key Research Program of Frontier Sciences, CAS (QYZDB-SSW- JSC008), and the CAS/SAFEA International Partnership Program for Creative Research Teams.
文摘Bio-syncretic robots consisting of both living biological materials and non-living systems possess desirable attributes such as high energy efficiency, intrinsic safety, high sensitivity, and self-repairing capabilities. Compared with living biological materials or non-living traditional robots based on elec- tromechanical systems, the combined system of a bio-syncretic robot holds many advantages. Therefore, developing bio-syncretic robots has been a topic of great interest, and significant progress has been achieved in this area over the past decade. This review systematically summarizes the development of bio-syncretic robots. First, potential trends in the development of bio-syncretic robots are discussed. Next, the current performance of bio-syncretic robots, including simple movement and controllability of velocity and direction, is reviewed. The living biological materials and non-living materials that are used in bio-syncretic robots, and the corresponding fabrication methods, are then discussed. In addition, recently developed control methods for bio-syncretic robots, including physical and chemical control methods, are described. Finally, challenges in the development of bio-syncretic robots are discussed from multiple viewpoints, including sensing and intelligence, living and non-living materials, control approaches, and information technology.
基金Project supported by the National Science Foundation of China(Grant No.12174441)the Fundamental Research Funds for the Central Universities,Chinathe Research Funds of Remnin University of China(Grant No.18XNLG24)。
文摘We study the critical scaling and dynamical signatures of fractionalized excitations at two different deconfined quantum critical points(DQCPs)in an S=1/2 spin chain using the time evolution of infinite matrix product states.The scaling of the correlation functions and the dispersion of the conserved current correlations explicitly show the emergence of enhanced continuous symmetries at these DQCPs.The dynamical structure factors in several different channels reveal the development of deconfined fractionalized excitations at the DQCPs.Furthermore,we find an effective spin-charge separation at the DQCP between the ferromagnetic(FM)and valence bond solid(VBS)phases,and identify two continua associated with different types of fractionalized excitations at the DQCP between the X-direction and Z-direction FM phases.Our findings not only provide direct evidence for the DQCP in one dimension but also shed light on exploring the DQCP in higher dimensions.
基金supported by the National Key R&D Program of China(Grant No.2016YFE0206200)the National Natural Science Foundation of China(Grant Nos.U1908215,91848201,61821005 and 61973316)Liaoning Revitalizaiton Talents Program(Grant No.XLYC2002014).
文摘Rehabilitation using exoskeleton robots can effectively remediate dysfunction and restore post-stroke survivors’ physical ability. However, low kinematic compatibility and poor self-participation of post-stroke patients in rehabilitation restrict the outcomes of exoskeleton-based therapy. The study presents an Unpowered Shoulder Complex Exoskeleton (USCE), consisting of Shoulder Girdle Mechanism (SGM), Ball-and-Socket Joint Mechanism (BSM), Gravity Compensating Mechanism (GCM) and Adjustable Alignment Design (AAD), to achieve self-rehabilitation of shoulder via energy transfer from the healthy upper limb to the affected counterpart of post-stroke hemiplegic patients. The SGM and AAD are designed to improve the kinematic compatibility by compensating for displacements of the glenohumeral joint with the adaptable size of USCE for different wearers. The BSM and GCM can transfer the body movement and energy from the healthy half of the body to the affected side without external energy input and enhance the self-participation with sick posture correction. The experimental results show that the USCE can provide high kinematic compatibility with 90.9% movement similarity between human and exoskeleton. Meanwhile, the motion ability of a post-stroke patient’s affected limb can be increased through energy transfer. It is expected that USCE can improve outcomes of home-based self-rehabilitation.
基金National Natural Science Foundation of China (Nos. 6187325& 61503372, U1613220, and 61433017)Youth Innovation Promotion Association CAS (No. 2017243)CAS FEA International Partnership Program for Creative Research Teams.
文摘Single-cell analysis has been considered as a promising way to uncover the underlying mechanisms guiding the mysteries of life activities, which con siderably complements traditio nal en semble assays and yields novel in sights into cell biology. The adve nt of atomic force microscopy (AFM) provides a potent tool for investigati ng the structures and properties of n ative biological samples at the micro/na no scale un der near-physiological conditions, which promotes the studies of single-cell behaviors. In the past decades, AFM has achieved great success in single-cell observation and manipulation for biomedical applications, demonstrating the excellent capabilities of AFM in addressing biological issues at the single-cell level with unprecedented spatiotemporal resolution. In this article, we review the recent advances in single-cell analysis that has been made with the utilization of AFM, and provide perspectives for future progression.
基金supported by the NationalNatural Science Foundation of China(61175103,61327014)CASFEA International Partnership Program for Creative Research Teams
文摘The advent of atomic force microscopy(AFM)provides a powerful tool for investigating the behaviors of single living cells under near physiological conditions.Besides acquiring the images of cellular ultra-microstructures with nanometer resolution,the most remarkable advances are achieved on the use of AFM indenting technique to quantify the mechanical properties of single living cells.By indenting single living cells with AFM tip,we can obtain the mechanical properties of cells and monitor their dynamic changes during the biological processes(e.g.,after the stimulation of drugs).AFM indentation-based mechanical analysis of single cells provides a novel approach to characterize the behaviors of cells from the perspective of biomechanics,considerably complementing the traditional biological experimental methods.Now,AFM indentation technique has been widely used in the life sciences,yielding a large amount of novel information that is meaningful to our understanding of the underlying mechanisms that govern the cellular biological functions.Here,based on the authors’own researches on AFM measurement of cellular mechanical properties,the principle and method of AFM indentation technique was presented,the recent progress of measuring the cellular mechanical properties using AFM was summarized,and the challenges of AFM single-cell nanomechanical analysis were discussed.
基金supported by the National Natural Science Foundation of China (61175103)CAS FEA International Partnership Program for Creative Research Teams
文摘Membrane proteins are crucial in cell physiological activities and are the targets for most drugs.Thus,investigating the behaviors of membrane proteins not only provide deeper insights into cell function,but also help disease treatment and drug development.Atomic force microscopy is a unique tool for investigating the structure of membrane proteins.It can both image the morphology of single native membrane proteins with high resolution and,via single-molecule force spectroscopy(SMFS),directly measure their biophysical properties during molecular physiological activities such as ligand binding and protein unfolding.In the context of molecular biomechanics,SMFS has been successfully used to understand the structure and function of membrane proteins,complementing the static three-dimensional structures of proteins obtained by X-ray crystallography.Here,based on the authors’antigen-antibody binding force measurements in clinical tumor cells,the principle and method of SMFS is discussed,the progress in using SMFS to characterize membrane proteins is summarized,and challenges for SMFS are presented.
基金supported by the National Natural Science Foundation of China (61503372, 61522312, U1613220, 61327014,61433017)the Youth Innovation Promotion Association CAS (2017243)the CAS FEA International Partnership Program for Creative Research Teams
文摘In this work, a method based on atomic force microscopy (AFM) approach-reside-retract experiments was established to simultaneously quantify the elastic and viscoelastic properties of single cells. First, the elastic and viscoelastic properties of normal breast cells and cancerous breast cells were measured, showing significant differences in Young’s modulus and relaxation times between normal and cancerous breast cells. Remarkable differences in cellular topography between normal and cancerous breast cells were also revealed by AFM imaging. Next, the elastic and viscoelasitc properties of three other types of cell lines and primary normal B lymphocytes were measured; results demonstrated the potential of cellular viscoelastic properties in complementing cellular Young’s modulus for discerning different states of cells. This research provides a novel way to quantify the mechanical properties of cells by AFM, which allows investigation of the biomechanical behaviors of single cells from multiple aspects.
基金supported by National Key R&D Program of China(Grant No.2016YFE0206200)the National Natural Science of China(Grant Nos.61821005,61703395,and 61727811)+2 种基金the Sichuan Science and Technology Program(Grant No.20SYSX0276)Natural Science Foundation of Liaoning Province of China(Grant No.20180520035)Youth Innovation Promotion Association of the Chinese Academy of Sciences(Grant No.2019205).
文摘Exoskeleton robots have demonstrated the potential to rehabilitate stroke dyskinesia.Unfortunately,poor human-machine physiological coupling causes unexpected damage to human of muscles and joints.Moreover,inferior humanoid kinematics control would restrict human natural kinematics.Failing to deal with these problems results in bottlenecks and hinders its application.In this paper,the simplified muscle model and muscle-liked kinematics model were proposed,based on which a soft wrist exoskeleton was established to realize natural human interaction.Firstly,we simplified the redundant muscular system related to the wrist joint from ten muscles to four,so as to realize the human-robot physiological coupling.Then,according to the above human-like musculoskeletal model,the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the wrist.The results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3%and 35.6%,respectively.Additionally,the humanoid motion trajectories similarity of the robot reached 91.5%.Stroke patients could recover 90.3%of natural motion ability to satisfy for most daily activities.This work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.
基金supported by the National Key R&D Program of China(2018YFB1304700)the National Natural Science Foundation of China(61925307,62003338,and 61927805)+3 种基金the China Postdoctoral Science Foundation(252311)the Nature Foundation of Liaoning Province of China(2021-BS-021)the State Key Laboratory of Robotics(2020-Z16)the Open Project of Hebei Key Laboratory of Micro-nano Precision Optical Sensing and Measurement Technol-ogy(NEUQ202102).
文摘Biosyncretic robots,which are new nature-based robots in addition to bionic robots,that utilize biological materials to realize their core function,have been supposed to further promote the progress in robotics.Actuation as the main operation mechanism relates to the robotic overall performance.Therefore,biosyncretic robots actuated by living biological actuators have attracted increasing attention.However,innovative propelling modes and control methods are still necessary for the further development of controllable motion performance of biosyncretic robots.In this work,a muscle tissue-based biosyncretic swimmer with a manta ray.inspired propelling mode has been developed.What is more,to improve the stable controllability of the biosyncretic swimmer,a dynamic control method based on circularly distributed multiple electrodes(CDME)has been proposed.In this method,the direction of the electric field generated by the CDME could be real-time controlled to be parallel with the adtuation tissue of the dynamic swimmer.Therefore,the instability of the tissue actuation induced by the dynamic included angle between the tissue axis and electric field direction could be eliminated.Finally,the biosyncretic robot has demonstrated stable,controllable,and efective swimming,by adjusting the electric stimulation pulse direction,amplitude,and frequency.This work may be beneficial for not only the development of biosyncretic robots but also other related studies including bionic design of soft robots and muscle tissue engineering.