This article describes a pilot study aiming at generating social interactions between a humanoid robot and adolescents with autism spectrum disorder (ASD), through the practice of a gesture imitation game. The partici...This article describes a pilot study aiming at generating social interactions between a humanoid robot and adolescents with autism spectrum disorder (ASD), through the practice of a gesture imitation game. The participants were a 17-year-old young lady with ASD and intellectual deficit, and a control participant: a preadolescent with ASD but no intellectual deficit (Asperger syndrome). The game is comprised of four phases: greetings, pairing, imitation, and closing. Field educators were involved, playing specific roles: visual or physical inciter. The use of a robot allows for catching the participants’ attention, playing the imitation game for a longer period of time than with a human partner, and preventing the game partner’s negative facial expressions resulting from tiredness, impatience, or boredom. The participants’ behavior was observed in terms of initial approach towards the robot, positioning relative to the robot in terms of distance and orientation, reactions to the robot’s voice or moves, signs of happiness, and imitation attempts. Results suggest a more and more natural approach towards the robot during the sessions, as well as a higher level of social interaction, based on the variations of the parameters listed above. We use these preliminary results to draw the next steps of our research work as well as identify further perspectives, with this aim in mind: improving social interactions with adolescents with ASD and intellectual deficit, allowing for better integration of these people into our societies.展开更多
The 2025 World Robot Conference,held in Beijing from August 8 to 12,offered a vivid glimpse into the future of the global robotics industry,where breakthroughs in artificial intelligence(AI)are injecting new momentum ...The 2025 World Robot Conference,held in Beijing from August 8 to 12,offered a vivid glimpse into the future of the global robotics industry,where breakthroughs in artificial intelligence(AI)are injecting new momentum into growth.Drawing ove r 1.3 million attendees.展开更多
Since the idea of embodied artificial intelligence was born,the U.S.has been an international frontrunner in the research and development(R&D)and application of the technology,while China has been a capable chaser...Since the idea of embodied artificial intelligence was born,the U.S.has been an international frontrunner in the research and development(R&D)and application of the technology,while China has been a capable chaser in recent years,particularly in the area of humanoid robots.展开更多
Human-robot safety is an important topic in wearable robotics,especially in supernumerary robotic limbs(SRLs).The proposal of flexible joint improves human-robot safety strategy,which allows physical contact between h...Human-robot safety is an important topic in wearable robotics,especially in supernumerary robotic limbs(SRLs).The proposal of flexible joint improves human-robot safety strategy,which allows physical contact between human and robots,rather than strictly limiting the human-robot motion.However,most researchers focus on the variable stiffness features of flexible joints,but few evaluate the performance of the flexible joint in the human-robot collision.Therefore,the performance of two typical flexible joints,including the series elastic joint(SEJ)and the passive variable stiffness joint(PVSJ),are compared through dynamic collision experiments.The results demonstrate that the SEJ absorbs 40.7%-58.7%of the collision force and 34.2%-45.2%of the collision torque in the driven-torque below 4 N·m and driven-speed of 3-7(°)/s,which is more stable than PVSJ.In addition,the stiffness error of SEJ is measured at 5.1%,significantly lower than the 23.04%measured in the PVSJ.The huge stiffness error of PVSJ leads to its unreliability in buffering collision.Furthermore,we analyze results and confirm that SEJ has a more stable human-robot safety performance in buffering dynamic collision.Consequently,the SEJ is suitable in SRLs for human-robot safety in our scenario.展开更多
Robots are increasingly expected to replace humans in many repetitive and high-precision tasks,of which surface scanning is a typical example.However,it is usually difficult for a robot to independently deal with a su...Robots are increasingly expected to replace humans in many repetitive and high-precision tasks,of which surface scanning is a typical example.However,it is usually difficult for a robot to independently deal with a surface scanning task with uncertainties in,for example the irregular surface shapes and surface properties.Moreover,it usually requires surface modelling with additional sensors,which might be time-consuming and costly.A human-robot collaboration-based approach that allows a human user and a robot to assist each other in scanning uncertain surfaces with uniform properties,such as scanning human skin in ultrasound examination is proposed.In this approach,teleoperation is used to obtain the operator's intent while allowing the operator to operate remotely.After external force perception and friction estimation,the orientation of the robot endeffector can be autonomously adjusted to keep as perpendicular to the surface as possible.Force control enables the robotic manipulator to maintain a constant contact force with the surface.And hybrid force/motion control ensures that force,position,and pose can be regulated without interfering with each other while reducing the operator's workload.The proposed method is validated using the Elite robot to perform a mock Bultrasound scanning experiment.展开更多
The textile industry,with its centuries-old heritage,is undergoing an unprecedented transformation-one where robots are stealing the spotlight.In factory floors that once hummed with the bustling activity of skilled w...The textile industry,with its centuries-old heritage,is undergoing an unprecedented transformation-one where robots are stealing the spotlight.In factory floors that once hummed with the bustling activity of skilled workers,automated systems are now the rising stars,quietly revolutionizing every aspect of production.展开更多
Jumping robots are highly capable of overcoming obstacles.However,their explosive force,short duration,and variable trajectories pose significant challenges in achieving stable landings in complex environments.Traditi...Jumping robots are highly capable of overcoming obstacles.However,their explosive force,short duration,and variable trajectories pose significant challenges in achieving stable landings in complex environments.Traditional approaches rely heavily on sophisticated algorithms and electronic sensor feedback systems to ensure landing stability,which increases the implementation complexity.Inspired by the process by which humans complete jumps and achieve stable landings in complex environments,this study proposes a novel landing control method for jumping robots.By designing a mechanically coupled perception-control structure based on mechanical logic computing,the robot simulates the real-time transmission of neural signals triggered by the ground reaction force(GRF)in human reflex loops,thereby simplifying traditional control approaches.Through the collaboration of a flexible mechanical spine and a bistable foot module,the robot achieves an average height of 16.8 cm and a distance of 25.36 cm in consecutive stable jumps.It also demonstrates reliable landing performance on challenging terrain including slopes and cobblestone surfaces.This paper proposes a novel landing control method for jumping robots that simplifies traditional control approaches.The method enables stable landings on complex terrain through a mechanically coupled perception-control structure.This approach has potential applications in tasks requiring mobility over uneven terrain,such as search and rescue.展开更多
Humanoid robots exhibit structures and movements akin to those of humans,enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools....Humanoid robots exhibit structures and movements akin to those of humans,enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools.Sustaining bal-ance amidst disturbances constitutes a fundamental capability for humanoid robots.Consequently,adopting efficacious strategies to manage instability and mitigate injuries resulting from falls assumes paramount importance in advancing the widespread adoption of humanoid robotics.This paper presents a comprehensive overview of the ongoing development of strategies for coping with falls in humanoid robots.It systematically reviews and discusses three critical facets:fall state detection,preventive actions against falls,and post-fall protection measures.The paper undertakes a thorough classifica-tion of existing coping methodologies across different stages of falls,analyzes the merits and drawbacks of each approach,and outlines the evolving trajectory of solutions for addressing fall-related challenges across distinct stages.Finally,the paper provides a succinct summary and future prospects for the current fall coping strategies tailored for humanoid robots.展开更多
This paper proposes the Leg Dimensional Synergistic Optimization Strategy(LDSOS)for humanoid robotic legs based on mechanism decoupling and performance assignment.The proposed method addresses the interdependent effec...This paper proposes the Leg Dimensional Synergistic Optimization Strategy(LDSOS)for humanoid robotic legs based on mechanism decoupling and performance assignment.The proposed method addresses the interdependent effects of dimensional parameters on the local and whole mechanisms in the design of hybrid humanoid robotic legs.It sequentially optimizes the dimensional parameters of the local and whole mechanism,thereby balancing the motion performance requirements of both.Additionally,it considers the assignment of efficient performance resources between the Local Functional Workspace(LFW)and the Whole Available Workspace(WAW).To facilitate the modeling and optimization process,a local/whole Equivalent Configuration Framework(ECF)is introduced.By decoupling the hybrid mechanism into a whole mechanism and multiple local mechanisms,the ECF enhances the efficiency of design,modeling,and performance evaluation.Prototype experiments are conducted to validate the effectiveness of LDSOS.This research provides an effective configuration framework for humanoid robotic leg design,establishing a theoretical and practical foundation for future optimized designs of humanoid robotic legs and pioneering novel approaches to the design of complex hybrid humanoid robotic legs.展开更多
Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet s...Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.展开更多
Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function....Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function.Despite their high-quality information content,these single-cell measuring techniques suffer from laborious manual processing by highly skilled workers and extremely low throughput(tens of cells per day).Recently,numerous researchers have automated the measurement of cell mechanical and electrical signals through robotic localization and control processes.While these efforts have demonstrated promising progress,critical challenges persist,including human dependency,learning complexity,in-situ measurement,and multidimensional signal acquisition.To identify key limitations and highlight emerging opportunities for innovation,in this review,we comprehensively summarize the key steps of robotic technologies in single-cell biomechanics and electrophysiology.We also discussed the prospects and challenges of robotics and automation in biological research.By bridging gaps between engineering,biology,and data science,this work aims to stimulate interdisciplinary research and accelerate the translation of robotic single-cell technologies into practical applications in the life sciences and medical fields.展开更多
The brain is the most complex human organ,and commonly used models,such as two-dimensional-cell cultures and animal brains,often lack the sophistication needed to accurately use in research.In this context,human cereb...The brain is the most complex human organ,and commonly used models,such as two-dimensional-cell cultures and animal brains,often lack the sophistication needed to accurately use in research.In this context,human cerebral organoids have emerged as valuable tools offering a more complex,versatile,and human-relevant system than traditional animal models,which are often unable to replicate the intricate architecture and functionality of the human brain.Since human cerebral organoids are a state-of-the-art model for the study of neurodevelopment and different pathologies affecting the brain,this field is currently under constant development,and work in this area is abundant.In this review,we give a complete overview of human cerebral organoids technology,starting from the different types of protocols that exist to generate different human cerebral organoids.We continue with the use of brain organoids for the study of brain pathologies,highlighting neurodevelopmental,psychiatric,neurodegenerative,brain tumor,and infectious diseases.Because of the potential value of human cerebral organoids,we describe their use in transplantation,drug screening,and toxicology assays.We also discuss the technologies available to study cell diversity and physiological characteristics of organoids.Finally,we summarize the limitations that currently exist in the field,such as the development of vasculature and microglia,and highlight some of the novel approaches being pursued through bioengineering.展开更多
Human spinal cord organoids(hSCOs)offer a promising platform to study neurotrauma by addressing many limitations of traditional research models.These organoids provide access to human-specific physiological and geneti...Human spinal cord organoids(hSCOs)offer a promising platform to study neurotrauma by addressing many limitations of traditional research models.These organoids provide access to human-specific physiological and genetic mechanisms and can be derived from an individual's somatic cells(e.g.,blood or skin).This enables patient-specific paradigms for precision neurotrauma research,pa rticula rly relevant to the over 300,000 people in the United States living with chronic effects of spinal cord injury(SCI).展开更多
Underwater pipeline inspection plays a vital role in the proactive maintenance and management of critical marine infrastructure and subaquatic systems.However,the inspection of underwater pipelines presents a challeng...Underwater pipeline inspection plays a vital role in the proactive maintenance and management of critical marine infrastructure and subaquatic systems.However,the inspection of underwater pipelines presents a challenge due to factors such as light scattering,absorption,restricted visibility,and ambient noise.The advancement of deep learning has introduced powerful techniques for processing large amounts of unstructured and imperfect data collected from underwater environments.This study evaluated the efficacy of the You Only Look Once(YOLO)algorithm,a real-time object detection and localization model based on convolutional neural networks,in identifying and classifying various types of pipeline defects in underwater settings.YOLOv8,the latest evolution in the YOLO family,integrates advanced capabilities,such as anchor-free detection,a cross-stage partial network backbone for efficient feature extraction,and a feature pyramid network+path aggregation network neck for robust multi-scale object detection,which make it particularly well-suited for complex underwater environments.Due to the lack of suitable open-access datasets for underwater pipeline defects,a custom dataset was captured using a remotely operated vehicle in a controlled environment.This application has the following assets available for use.Extensive experimentation demonstrated that YOLOv8 X-Large consistently outperformed other models in terms of pipe defect detection and classification and achieved a strong balance between precision and recall in identifying pipeline cracks,rust,corners,defective welds,flanges,tapes,and holes.This research establishes the baseline performance of YOLOv8 for underwater defect detection and showcases its potential to enhance the reliability and efficiency of pipeline inspection tasks in challenging underwater environments.展开更多
Exogenous neural stem cell transplantation has become one of the most promising treatment methods for chronic stroke.Recent studies have shown that most ischemia-reperfusion model rats recover spontaneously after inju...Exogenous neural stem cell transplantation has become one of the most promising treatment methods for chronic stroke.Recent studies have shown that most ischemia-reperfusion model rats recover spontaneously after injury,which limits the ability to observe long-term behavioral recovery.Here,we used a severe stroke rat model with 150 minutes of ischemia,which produced severe behavioral deficiencies that persisted at 12 weeks,to study the therapeutic effect of neural stem cells on neural restoration in chronic stroke.Our study showed that stroke model rats treated with human neural stem cells had long-term sustained recovery of motor function,reduced infarction volume,long-term human neural stem cell survival,and improved local inflammatory environment and angiogenesis.We also demonstrated that transplanted human neural stem cells differentiated into mature neurons in vivo,formed stable functional synaptic connections with host neurons,and exhibited the electrophysiological properties of functional mature neurons,indicating that they replaced the damaged host neurons.The findings showed that human fetal-derived neural stem cells had long-term effects for neurological recovery in a model of severe stroke,which suggests that human neural stem cells-based therapy may be effective for repairing damaged neural circuits in stroke patients.展开更多
BACKGROUND Donor-specific antibodies(DSAs)against human leukocyte antigen(HLA)-DQ are increasingly recognized as major contributors to antibody-mediated rejection(AMR)and graft failure in kidney transplantation.Howeve...BACKGROUND Donor-specific antibodies(DSAs)against human leukocyte antigen(HLA)-DQ are increasingly recognized as major contributors to antibody-mediated rejection(AMR)and graft failure in kidney transplantation.However,their clinical impact remains understudied in Morocco.AIM To evaluate the presence and implications of anti-HLA-DQ DSAs in Moroccan kidney transplant recipients.METHODS We retrospectively analyzed the immunological profiles and clinical outcomes of kidney transplant recipients screened for anti-HLA antibodies between 2015 and 2020,who developed anti-HLA-DQ DSAs either before or after transplantation.Anti-HLA antibodies were identified using Luminex®single antigen bead technology,and clinical follow-up included graft function assessment,biopsy interpretation,and evaluation of immunosuppression.RESULTS In the pre-transplant group(n=6 with confirmed donor typing),patients with low to moderate median fluorescence intensity(MFI)anti-HLA-DQ DSAs(MFI 561-1581)underwent successful transplantation and maintained stable graft function under optimized immunosuppression.In contrast,in the post-transplant group(n=6 with confirmed donor typing),the emergence of de novo anti-HLA-DQ DSAs was consistently associated with AMR,with MFI values reaching up to 19473,with biopsy-proven AMR in 5 of 6 cases and suspicion of AMR in 1 case.Two representative cases are detailed to illustrate the clinical impact of DQ DSAs:one patient developed high-level anti-DQB1*02 de novo DSA(MFI 12029)with persistent AMR after 5 years,while another developed anti-DQA1*05:01 de novo DSA after an early AMR episode but maintained stable graft function after 5 years(creatinine 1.48 mg/dL).CONCLUSION Our findings underscore the clinical significance of anti-HLA-DQ DSAs in Moroccan kidney transplant recipients.While preformed DSAs with low immunogenicity may permit successful transplantation,de novo DSAs strongly correlate with AMR.Proactive monitoring,including routine DSA screening and HLA-DQ typing,could improve graft outcomes by enabling early intervention and better donor selection.展开更多
Parkinson’s disease(PD)is the second most common neurodegenerative disorder.The progressive degeneration of dopamine(DA)producing neurons in the midbrain is the pathological hallmark,which leads to debilitating motor...Parkinson’s disease(PD)is the second most common neurodegenerative disorder.The progressive degeneration of dopamine(DA)producing neurons in the midbrain is the pathological hallmark,which leads to debilitating motor symptoms,including tremors,rigidity,and bradykinesia.Drug treatments,such as levodopa,provide symptomatic relief.However,they do not halt disease progression,and their effectiveness diminishes over time(reviewed in Poewe et al.,2017).展开更多
Intrathecal administration of human umbilical cord mesenchymal stem cells may be a promising approach for the treatment of stroke,but its safety,effectiveness,and mechanism remain to be elucidated.In this study,good m...Intrathecal administration of human umbilical cord mesenchymal stem cells may be a promising approach for the treatment of stroke,but its safety,effectiveness,and mechanism remain to be elucidated.In this study,good manufacturing practice-grade human umbilical cord mesenchymal stem cells(5×105 and 1×106 cells)and saline were administered by cerebellomedullary cistern injection 72 hours after stroke induced by middle cerebral artery occlusion in rats.The results showed(1)no significant difference in mortality or general conditions among the three groups.There was no abnormal differentiation or tumor formation in various organs of rats in any group.(2)Compared with saline-treated animals,those treated with human umbilical cord mesenchymal stem cells showed significant functional recovery and reduced infarct volume,with no significant differences between different human umbilical cord mesenchymal stem cell doses.(3)Human umbilical cord mesenchymal stem cells were found in the ischemic brain after 14 and 28 days of follow-up,and the number of positive cells significantly decreased over time.(4)Neuronal nuclei expression in the human umbilical cord mesenchymal stem cell group was greater than that in the saline group,while glial fibrillary acidic protein and ionized calcium binding adaptor molecule 1 expression levels decreased.(5)Human umbilical cord mesenchymal stem cell treatment increased the number of CD31+microvessels and doublecortin-positive cells after ischemic stroke.Human umbilical cord mesenchymal stem cells also upregulated the expression of CD31+/Ki67+.(6)At 14 days after intrathecal administration,brain-derived neurotrophic factor expression in the peri-infarct area and the concentrations of brain-derived neurotrophic factor in the cerebrospinal fluid in both human umbilical cord mesenchymal stem cell groups were significantly greater than those in the saline group and persisted until the 28th day.Taken together,these results indicate that the intrathecal administration of human umbilical cord mesenchymal stem cells via cerebellomedullary cistern injection is safe and effective for the treatment of ischemic stroke in rats.The mechanisms may include alleviating the local inflammatory response in the peri-infarct region,promoting neurogenesis and angiogenesis,and enhancing the production of neurotrophic factors.展开更多
Microglia,the resident immune cells of the central nervous system,exhibit a wide array of functional states,even in their so-called“homeostatic”condition,when they are not actively responding to overt pathological s...Microglia,the resident immune cells of the central nervous system,exhibit a wide array of functional states,even in their so-called“homeostatic”condition,when they are not actively responding to overt pathological stimuli.These functional states can be visualized using a combination of multi-omics techniques(e.g.,gene and protein expression,posttranslational modifications,mRNA profiling,and metabolomics),and,in the case of homeostatic microglia,are largely defined by the global(e.g.,genetic variations,organism’s age,sex,circadian rhythms,and gut microbiota)as well as local(specific area of the brain,immediate microglial surrounding,neuron-glia interactions and synaptic density/activity)signals(Paolicelli et al.,2022).While phenomics(i.e.,ultrastructural microglial morphology and motility)is also one of the key microglial state-defining parameters,it is known that cells with similar morphology can belong to different functional states.展开更多
文摘This article describes a pilot study aiming at generating social interactions between a humanoid robot and adolescents with autism spectrum disorder (ASD), through the practice of a gesture imitation game. The participants were a 17-year-old young lady with ASD and intellectual deficit, and a control participant: a preadolescent with ASD but no intellectual deficit (Asperger syndrome). The game is comprised of four phases: greetings, pairing, imitation, and closing. Field educators were involved, playing specific roles: visual or physical inciter. The use of a robot allows for catching the participants’ attention, playing the imitation game for a longer period of time than with a human partner, and preventing the game partner’s negative facial expressions resulting from tiredness, impatience, or boredom. The participants’ behavior was observed in terms of initial approach towards the robot, positioning relative to the robot in terms of distance and orientation, reactions to the robot’s voice or moves, signs of happiness, and imitation attempts. Results suggest a more and more natural approach towards the robot during the sessions, as well as a higher level of social interaction, based on the variations of the parameters listed above. We use these preliminary results to draw the next steps of our research work as well as identify further perspectives, with this aim in mind: improving social interactions with adolescents with ASD and intellectual deficit, allowing for better integration of these people into our societies.
文摘The 2025 World Robot Conference,held in Beijing from August 8 to 12,offered a vivid glimpse into the future of the global robotics industry,where breakthroughs in artificial intelligence(AI)are injecting new momentum into growth.Drawing ove r 1.3 million attendees.
文摘Since the idea of embodied artificial intelligence was born,the U.S.has been an international frontrunner in the research and development(R&D)and application of the technology,while China has been a capable chaser in recent years,particularly in the area of humanoid robots.
基金supported by the Na⁃tional Natural Science Foundation of China(No.U22A20204)the Innovation Foundation from National Clinical Research Center for Orthopedics,Sports Medicine&Rehabilitation Foundation(No.23-NCRC-CXJJ-ZD3-8)。
文摘Human-robot safety is an important topic in wearable robotics,especially in supernumerary robotic limbs(SRLs).The proposal of flexible joint improves human-robot safety strategy,which allows physical contact between human and robots,rather than strictly limiting the human-robot motion.However,most researchers focus on the variable stiffness features of flexible joints,but few evaluate the performance of the flexible joint in the human-robot collision.Therefore,the performance of two typical flexible joints,including the series elastic joint(SEJ)and the passive variable stiffness joint(PVSJ),are compared through dynamic collision experiments.The results demonstrate that the SEJ absorbs 40.7%-58.7%of the collision force and 34.2%-45.2%of the collision torque in the driven-torque below 4 N·m and driven-speed of 3-7(°)/s,which is more stable than PVSJ.In addition,the stiffness error of SEJ is measured at 5.1%,significantly lower than the 23.04%measured in the PVSJ.The huge stiffness error of PVSJ leads to its unreliability in buffering collision.Furthermore,we analyze results and confirm that SEJ has a more stable human-robot safety performance in buffering dynamic collision.Consequently,the SEJ is suitable in SRLs for human-robot safety in our scenario.
基金Engineering and Physical Sciences Research Council(EPSRC),Grant/Award Number:EP/S001913。
文摘Robots are increasingly expected to replace humans in many repetitive and high-precision tasks,of which surface scanning is a typical example.However,it is usually difficult for a robot to independently deal with a surface scanning task with uncertainties in,for example the irregular surface shapes and surface properties.Moreover,it usually requires surface modelling with additional sensors,which might be time-consuming and costly.A human-robot collaboration-based approach that allows a human user and a robot to assist each other in scanning uncertain surfaces with uniform properties,such as scanning human skin in ultrasound examination is proposed.In this approach,teleoperation is used to obtain the operator's intent while allowing the operator to operate remotely.After external force perception and friction estimation,the orientation of the robot endeffector can be autonomously adjusted to keep as perpendicular to the surface as possible.Force control enables the robotic manipulator to maintain a constant contact force with the surface.And hybrid force/motion control ensures that force,position,and pose can be regulated without interfering with each other while reducing the operator's workload.The proposed method is validated using the Elite robot to perform a mock Bultrasound scanning experiment.
文摘The textile industry,with its centuries-old heritage,is undergoing an unprecedented transformation-one where robots are stealing the spotlight.In factory floors that once hummed with the bustling activity of skilled workers,automated systems are now the rising stars,quietly revolutionizing every aspect of production.
基金Supported by New Chongqing Innovative Young Talent Project(Grant No.2024NSCQ-qncxX0468)Natural Science Foundation of Chongqing(Grant No.CSTB2022NSCQ-MSX1283)Dreams Foundation of Jianghuai Advanced Technology Center(Grant No.2023-ZM01Z007).
文摘Jumping robots are highly capable of overcoming obstacles.However,their explosive force,short duration,and variable trajectories pose significant challenges in achieving stable landings in complex environments.Traditional approaches rely heavily on sophisticated algorithms and electronic sensor feedback systems to ensure landing stability,which increases the implementation complexity.Inspired by the process by which humans complete jumps and achieve stable landings in complex environments,this study proposes a novel landing control method for jumping robots.By designing a mechanically coupled perception-control structure based on mechanical logic computing,the robot simulates the real-time transmission of neural signals triggered by the ground reaction force(GRF)in human reflex loops,thereby simplifying traditional control approaches.Through the collaboration of a flexible mechanical spine and a bistable foot module,the robot achieves an average height of 16.8 cm and a distance of 25.36 cm in consecutive stable jumps.It also demonstrates reliable landing performance on challenging terrain including slopes and cobblestone surfaces.This paper proposes a novel landing control method for jumping robots that simplifies traditional control approaches.The method enables stable landings on complex terrain through a mechanically coupled perception-control structure.This approach has potential applications in tasks requiring mobility over uneven terrain,such as search and rescue.
基金supported by the key research and development project of Science and Technology Department of Jilin Province(No.20230201102GX)the Natural Science Foundation of Chongqing(No.CSTB2022NSCQ-MSX0278)the 2023 college students innovation and entrepreneurship training plan(202310183105).
文摘Humanoid robots exhibit structures and movements akin to those of humans,enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools.Sustaining bal-ance amidst disturbances constitutes a fundamental capability for humanoid robots.Consequently,adopting efficacious strategies to manage instability and mitigate injuries resulting from falls assumes paramount importance in advancing the widespread adoption of humanoid robotics.This paper presents a comprehensive overview of the ongoing development of strategies for coping with falls in humanoid robots.It systematically reviews and discusses three critical facets:fall state detection,preventive actions against falls,and post-fall protection measures.The paper undertakes a thorough classifica-tion of existing coping methodologies across different stages of falls,analyzes the merits and drawbacks of each approach,and outlines the evolving trajectory of solutions for addressing fall-related challenges across distinct stages.Finally,the paper provides a succinct summary and future prospects for the current fall coping strategies tailored for humanoid robots.
文摘This paper proposes the Leg Dimensional Synergistic Optimization Strategy(LDSOS)for humanoid robotic legs based on mechanism decoupling and performance assignment.The proposed method addresses the interdependent effects of dimensional parameters on the local and whole mechanisms in the design of hybrid humanoid robotic legs.It sequentially optimizes the dimensional parameters of the local and whole mechanism,thereby balancing the motion performance requirements of both.Additionally,it considers the assignment of efficient performance resources between the Local Functional Workspace(LFW)and the Whole Available Workspace(WAW).To facilitate the modeling and optimization process,a local/whole Equivalent Configuration Framework(ECF)is introduced.By decoupling the hybrid mechanism into a whole mechanism and multiple local mechanisms,the ECF enhances the efficiency of design,modeling,and performance evaluation.Prototype experiments are conducted to validate the effectiveness of LDSOS.This research provides an effective configuration framework for humanoid robotic leg design,establishing a theoretical and practical foundation for future optimized designs of humanoid robotic legs and pioneering novel approaches to the design of complex hybrid humanoid robotic legs.
基金supported by the National Natural Science Foundation of China(Grant No.62073041)the Open Fund of Laboratory of Aerospace Servo Actuation and Transmission(Grant No.LASAT-2023A04)the Fundamental Research Funds for the Central Universities(Grant Nos.2024CX06011,2024CX06079)。
文摘Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.
基金the National Natural Science Foundation of China[62525301,62127811,62433019]the New Cornerstone Science Foundation through the XPLORER PRIZEthe financial support by the China Postdoctoral Science Foundation[GZB20240797].
文摘Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function.Despite their high-quality information content,these single-cell measuring techniques suffer from laborious manual processing by highly skilled workers and extremely low throughput(tens of cells per day).Recently,numerous researchers have automated the measurement of cell mechanical and electrical signals through robotic localization and control processes.While these efforts have demonstrated promising progress,critical challenges persist,including human dependency,learning complexity,in-situ measurement,and multidimensional signal acquisition.To identify key limitations and highlight emerging opportunities for innovation,in this review,we comprehensively summarize the key steps of robotic technologies in single-cell biomechanics and electrophysiology.We also discussed the prospects and challenges of robotics and automation in biological research.By bridging gaps between engineering,biology,and data science,this work aims to stimulate interdisciplinary research and accelerate the translation of robotic single-cell technologies into practical applications in the life sciences and medical fields.
基金supported by the Grant PID2021-126715OB-IOO financed by MCIN/AEI/10.13039/501100011033 and"ERDFA way of making Europe"by the Grant PI22CⅢ/00055 funded by Instituto de Salud CarlosⅢ(ISCⅢ)+6 种基金the UFIECPY 398/19(PEJ2018-004965) grant to RGS funded by AEI(Spain)the UFIECPY-396/19(PEJ2018-004961)grant financed by MCIN (Spain)FI23CⅢ/00003 grant funded by ISCⅢ-PFIS Spain) to PMMthe UFIECPY 328/22 (PEJ-2021-TL/BMD-21001) grant to LM financed by CAM (Spain)the grant by CAPES (Coordination for the Improvement of Higher Education Personnel)through the PDSE program (Programa de Doutorado Sanduiche no Exterior)to VSCG financed by MEC (Brazil)
文摘The brain is the most complex human organ,and commonly used models,such as two-dimensional-cell cultures and animal brains,often lack the sophistication needed to accurately use in research.In this context,human cerebral organoids have emerged as valuable tools offering a more complex,versatile,and human-relevant system than traditional animal models,which are often unable to replicate the intricate architecture and functionality of the human brain.Since human cerebral organoids are a state-of-the-art model for the study of neurodevelopment and different pathologies affecting the brain,this field is currently under constant development,and work in this area is abundant.In this review,we give a complete overview of human cerebral organoids technology,starting from the different types of protocols that exist to generate different human cerebral organoids.We continue with the use of brain organoids for the study of brain pathologies,highlighting neurodevelopmental,psychiatric,neurodegenerative,brain tumor,and infectious diseases.Because of the potential value of human cerebral organoids,we describe their use in transplantation,drug screening,and toxicology assays.We also discuss the technologies available to study cell diversity and physiological characteristics of organoids.Finally,we summarize the limitations that currently exist in the field,such as the development of vasculature and microglia,and highlight some of the novel approaches being pursued through bioengineering.
基金supported by the Belle Carnell Regenerative Neurorehabilitation Fundthe National Institutes of Health(R01NS113935 to CKF)。
文摘Human spinal cord organoids(hSCOs)offer a promising platform to study neurotrauma by addressing many limitations of traditional research models.These organoids provide access to human-specific physiological and genetic mechanisms and can be derived from an individual's somatic cells(e.g.,blood or skin).This enables patient-specific paradigms for precision neurotrauma research,pa rticula rly relevant to the over 300,000 people in the United States living with chronic effects of spinal cord injury(SCI).
文摘Underwater pipeline inspection plays a vital role in the proactive maintenance and management of critical marine infrastructure and subaquatic systems.However,the inspection of underwater pipelines presents a challenge due to factors such as light scattering,absorption,restricted visibility,and ambient noise.The advancement of deep learning has introduced powerful techniques for processing large amounts of unstructured and imperfect data collected from underwater environments.This study evaluated the efficacy of the You Only Look Once(YOLO)algorithm,a real-time object detection and localization model based on convolutional neural networks,in identifying and classifying various types of pipeline defects in underwater settings.YOLOv8,the latest evolution in the YOLO family,integrates advanced capabilities,such as anchor-free detection,a cross-stage partial network backbone for efficient feature extraction,and a feature pyramid network+path aggregation network neck for robust multi-scale object detection,which make it particularly well-suited for complex underwater environments.Due to the lack of suitable open-access datasets for underwater pipeline defects,a custom dataset was captured using a remotely operated vehicle in a controlled environment.This application has the following assets available for use.Extensive experimentation demonstrated that YOLOv8 X-Large consistently outperformed other models in terms of pipe defect detection and classification and achieved a strong balance between precision and recall in identifying pipeline cracks,rust,corners,defective welds,flanges,tapes,and holes.This research establishes the baseline performance of YOLOv8 for underwater defect detection and showcases its potential to enhance the reliability and efficiency of pipeline inspection tasks in challenging underwater environments.
文摘Exogenous neural stem cell transplantation has become one of the most promising treatment methods for chronic stroke.Recent studies have shown that most ischemia-reperfusion model rats recover spontaneously after injury,which limits the ability to observe long-term behavioral recovery.Here,we used a severe stroke rat model with 150 minutes of ischemia,which produced severe behavioral deficiencies that persisted at 12 weeks,to study the therapeutic effect of neural stem cells on neural restoration in chronic stroke.Our study showed that stroke model rats treated with human neural stem cells had long-term sustained recovery of motor function,reduced infarction volume,long-term human neural stem cell survival,and improved local inflammatory environment and angiogenesis.We also demonstrated that transplanted human neural stem cells differentiated into mature neurons in vivo,formed stable functional synaptic connections with host neurons,and exhibited the electrophysiological properties of functional mature neurons,indicating that they replaced the damaged host neurons.The findings showed that human fetal-derived neural stem cells had long-term effects for neurological recovery in a model of severe stroke,which suggests that human neural stem cells-based therapy may be effective for repairing damaged neural circuits in stroke patients.
基金Supported by the National Science and Technology Research Center(Morocco)“PhD-Associate Scholarship-PASS”Program,No.88UH2C2023.
文摘BACKGROUND Donor-specific antibodies(DSAs)against human leukocyte antigen(HLA)-DQ are increasingly recognized as major contributors to antibody-mediated rejection(AMR)and graft failure in kidney transplantation.However,their clinical impact remains understudied in Morocco.AIM To evaluate the presence and implications of anti-HLA-DQ DSAs in Moroccan kidney transplant recipients.METHODS We retrospectively analyzed the immunological profiles and clinical outcomes of kidney transplant recipients screened for anti-HLA antibodies between 2015 and 2020,who developed anti-HLA-DQ DSAs either before or after transplantation.Anti-HLA antibodies were identified using Luminex®single antigen bead technology,and clinical follow-up included graft function assessment,biopsy interpretation,and evaluation of immunosuppression.RESULTS In the pre-transplant group(n=6 with confirmed donor typing),patients with low to moderate median fluorescence intensity(MFI)anti-HLA-DQ DSAs(MFI 561-1581)underwent successful transplantation and maintained stable graft function under optimized immunosuppression.In contrast,in the post-transplant group(n=6 with confirmed donor typing),the emergence of de novo anti-HLA-DQ DSAs was consistently associated with AMR,with MFI values reaching up to 19473,with biopsy-proven AMR in 5 of 6 cases and suspicion of AMR in 1 case.Two representative cases are detailed to illustrate the clinical impact of DQ DSAs:one patient developed high-level anti-DQB1*02 de novo DSA(MFI 12029)with persistent AMR after 5 years,while another developed anti-DQA1*05:01 de novo DSA after an early AMR episode but maintained stable graft function after 5 years(creatinine 1.48 mg/dL).CONCLUSION Our findings underscore the clinical significance of anti-HLA-DQ DSAs in Moroccan kidney transplant recipients.While preformed DSAs with low immunogenicity may permit successful transplantation,de novo DSAs strongly correlate with AMR.Proactive monitoring,including routine DSA screening and HLA-DQ typing,could improve graft outcomes by enabling early intervention and better donor selection.
基金supported by the DGIST start-up funds from the Ministry of Science and ICT(2024010330)a National Research Foundation of Korea(NRF)grant funded by the Korea Government(MSIT)(No.RS-2024-00351442)(to TWK).
文摘Parkinson’s disease(PD)is the second most common neurodegenerative disorder.The progressive degeneration of dopamine(DA)producing neurons in the midbrain is the pathological hallmark,which leads to debilitating motor symptoms,including tremors,rigidity,and bradykinesia.Drug treatments,such as levodopa,provide symptomatic relief.However,they do not halt disease progression,and their effectiveness diminishes over time(reviewed in Poewe et al.,2017).
基金supported by the Medicine-Engineering Interdisciplinary Project of Sun Yat-sen Memorial Hospital,China,No.YXYGRH202203(to YW)Key-Area Research and Development Program of Guangdong Province,China,No.2023B1111050003(to HC)Guangzhou Science and Technology Talent Project of China,No.201909020006(to HC).
文摘Intrathecal administration of human umbilical cord mesenchymal stem cells may be a promising approach for the treatment of stroke,but its safety,effectiveness,and mechanism remain to be elucidated.In this study,good manufacturing practice-grade human umbilical cord mesenchymal stem cells(5×105 and 1×106 cells)and saline were administered by cerebellomedullary cistern injection 72 hours after stroke induced by middle cerebral artery occlusion in rats.The results showed(1)no significant difference in mortality or general conditions among the three groups.There was no abnormal differentiation or tumor formation in various organs of rats in any group.(2)Compared with saline-treated animals,those treated with human umbilical cord mesenchymal stem cells showed significant functional recovery and reduced infarct volume,with no significant differences between different human umbilical cord mesenchymal stem cell doses.(3)Human umbilical cord mesenchymal stem cells were found in the ischemic brain after 14 and 28 days of follow-up,and the number of positive cells significantly decreased over time.(4)Neuronal nuclei expression in the human umbilical cord mesenchymal stem cell group was greater than that in the saline group,while glial fibrillary acidic protein and ionized calcium binding adaptor molecule 1 expression levels decreased.(5)Human umbilical cord mesenchymal stem cell treatment increased the number of CD31+microvessels and doublecortin-positive cells after ischemic stroke.Human umbilical cord mesenchymal stem cells also upregulated the expression of CD31+/Ki67+.(6)At 14 days after intrathecal administration,brain-derived neurotrophic factor expression in the peri-infarct area and the concentrations of brain-derived neurotrophic factor in the cerebrospinal fluid in both human umbilical cord mesenchymal stem cell groups were significantly greater than those in the saline group and persisted until the 28th day.Taken together,these results indicate that the intrathecal administration of human umbilical cord mesenchymal stem cells via cerebellomedullary cistern injection is safe and effective for the treatment of ischemic stroke in rats.The mechanisms may include alleviating the local inflammatory response in the peri-infarct region,promoting neurogenesis and angiogenesis,and enhancing the production of neurotrophic factors.
基金supported by Deutsche Forschungsgemeinschaft,German Research Foundation grant GA 654/13-2 to OG.
文摘Microglia,the resident immune cells of the central nervous system,exhibit a wide array of functional states,even in their so-called“homeostatic”condition,when they are not actively responding to overt pathological stimuli.These functional states can be visualized using a combination of multi-omics techniques(e.g.,gene and protein expression,posttranslational modifications,mRNA profiling,and metabolomics),and,in the case of homeostatic microglia,are largely defined by the global(e.g.,genetic variations,organism’s age,sex,circadian rhythms,and gut microbiota)as well as local(specific area of the brain,immediate microglial surrounding,neuron-glia interactions and synaptic density/activity)signals(Paolicelli et al.,2022).While phenomics(i.e.,ultrastructural microglial morphology and motility)is also one of the key microglial state-defining parameters,it is known that cells with similar morphology can belong to different functional states.
