The introduction of wireless capsule endoscopy has brought a revolutionary change in the diagnostic procedures for gastrointestinal disorders.Biopsy,an essential procedure for disease diagnosis,has been integrated int...The introduction of wireless capsule endoscopy has brought a revolutionary change in the diagnostic procedures for gastrointestinal disorders.Biopsy,an essential procedure for disease diagnosis,has been integrated into robotic capsule endoscopy to augment diagnostic capabilities.In this study,we propose a magnetically driven biopsy robot based on a Kresling origami.Considering the bistable properties of Krelsing origami and the elasticity of the creases,a foldable structure of the robot with constant force characteristics is designed.The folding motion of the structure is used to deploy the needle into the target tissue.The robot is capable of performing rolling motion under the control of an external magnetic drive system,and a fine needle biopsy technique is used to collect deep tissue samples.We also conduct in vitro rolling experiments and sampling experiments on apple tissues and pork tissues,which verify the performance of the robot.展开更多
Using origami folding concepts to design novel mechanical metamaterials has recently become a prevalent framework.Inspired by the Kresling origami structure,this study proposes a double-layer Kresling origami metamate...Using origami folding concepts to design novel mechanical metamaterials has recently become a prevalent framework.Inspired by the Kresling origami structure,this study proposes a double-layer Kresling origami metamaterial with reprogrammable shock stiffness.Two combination strategies are constructed,each with different geometric constraints and kinematic compatibility.They are identified as assigned with same torsion direction(ASTD)and assigned with opposite torsion direction(AOTD),respectively.The shock stiffness of two double-layer Kresling origami metamaterials is analyzed using the finite element method,and results indicate that the AOTD metamaterial has superior impact resistance.Furthermore,the programmability of shock stiffness of the metamaterial is carried out comprehensively,and the influence of each design parameter is exhibited in detail.Finally,two prototypes of ASTD and AOTD metamaterials are fabricated,and experimental tests verify the analysis outcomes.This study provides a new approach to constructing mechanical metamaterials with reprogrammable shock stiffness for applications in energy absorption and vibration isolation engineering.展开更多
The rapid growth of the aging population and the rising prevalence of motor disorders demand intelligent,user-centric rehabilitation technologies.Integrating artificial intelligence and the Internet of Things(AIoT)int...The rapid growth of the aging population and the rising prevalence of motor disorders demand intelligent,user-centric rehabilitation technologies.Integrating artificial intelligence and the Internet of Things(AIoT)into sensor devices offers a powerful means of capturing limb motion data and assisting rehabilitation,thereby helping patients regain confidence and functional independence.This work presents a self-powered sensor based on a Kresling-structured thermoplastic polyurethane(TPU)substrate that integrates triboelectric nanogenerators(TENGs)and electromagnetic generators(EMGs).Optimizing the Kresling geometry and stiffness of the Kresling structure achieves high adaptability to human motion and high-sensitivity monitoring.The bistable design enables synergistic TENG-EMG signal outputs under axial compression and circumferential torsion,leveraging TENG sensitivity and EMG stability for reliable low-frequency motion detection.Using machine learning framework extracts multi-scale motion features,enabling identity verification,limb activity monitoring,and precise wrist tracking with classification accuracy all above 98%.Based on composite sensor signals and human-machine interaction(HMI),immersive and assistive wrist rehabilitation training is achieved through real-time feedback and applications such as claw machine.Additionally,interactive platforms including a“Dancing Machine”and a“Driving Simulator”integrate the sensor to explore brain-body collaborative rehabilitation.This work provides a low-cost,energy-efficient,and scalable solution for next-generation intelligent rehabilitation,paving the way for personalized,immersive,and user-centric therapy systems.展开更多
This paper presents a single-drive bio-inspired intestine robot that leverages the coupled rotational-contraction dynamics of Kresling origami structures and unidirectional valves to replicate intestinal peristalsis f...This paper presents a single-drive bio-inspired intestine robot that leverages the coupled rotational-contraction dynamics of Kresling origami structures and unidirectional valves to replicate intestinal peristalsis for directional transport.The minimalist design,comprising a servo motor,antagonistic chiral Kresling units,and check valves,enables continuous peristaltic wave propagation through reciprocal torsional input.Experimental validation demonstrates exceptional performance:transport speeds up to 20.91 mm/s,load capacity exceeding 97 g,and adaptability to objects spanning 32-46 mm in diameter across inclinations of 0°-90°.Key innovations include:(1)Biomechanical mimicry through antagonistic chiral units that convert rotation into radial contractions,replicating segmented intestinal propulsion;(2)Performance breakthroughs in speed and payload,enabled by efficient energy transfer from torsional kinematics;and(3)Valve-enabled directionality ensuring net forward displacement.Theoretical analysis establishes geometric constraints for valve-mediated transport,explaining the optimized operating range via valve aperture dynamics and material compliance.This work advances gastrointestinal robotics by addressing critical limitations in existing simulators:complex actuation,slow transport,and directional instability,providing a robust platform for medical applications such as segment artificial intestines replacement.展开更多
A novel wrist-inspired soft actuator,which is driven by a magneto-pneumatic hybrid system and based on a Kresling origami unit,is proposed.The geometric model,kinematic analysis model,and quasistatic analysis model of...A novel wrist-inspired soft actuator,which is driven by a magneto-pneumatic hybrid system and based on a Kresling origami unit,is proposed.The geometric model,kinematic analysis model,and quasistatic analysis model of the Kresling origami unit are presented.A key focus is on the formulation and investigation of the variation in rotation angle using the kinematic analysis model.A wrist-inspired soft actuator is designed,and its quasistatic characteristics are validated through various experiments.The paper proposes an innovative magneto-pneumatic hybrid actuation method,capable of achieving bidirectional torsion.This actuation method is experimentally validated,demonstrating the actuator's ability to maintain 3 steady states and its capability for bidirectional torsion deformation.Furthermore,the paper highlights the potential of the Kresling origami unit in designing soft actuators capable of achieving large rotation angles.For instance,an actuator with 6 sides(n=6)is shown to achieve a rotation angle of 239.5°,and its rotation ratio exceeds 277°,about twice the largest one reported in other literature.The actuator offers a practical and effective solution for bidirectional torsion deformation in soft robotic applications.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.51805047 and 52175003)the Outstanding Youth Program of Hunan Education Department(Grant No.23B0335)the Natural Science Foundation of Hunan Province(Grant Nos.2023JJ30021 and 2023JJ50077).
文摘The introduction of wireless capsule endoscopy has brought a revolutionary change in the diagnostic procedures for gastrointestinal disorders.Biopsy,an essential procedure for disease diagnosis,has been integrated into robotic capsule endoscopy to augment diagnostic capabilities.In this study,we propose a magnetically driven biopsy robot based on a Kresling origami.Considering the bistable properties of Krelsing origami and the elasticity of the creases,a foldable structure of the robot with constant force characteristics is designed.The folding motion of the structure is used to deploy the needle into the target tissue.The robot is capable of performing rolling motion under the control of an external magnetic drive system,and a fine needle biopsy technique is used to collect deep tissue samples.We also conduct in vitro rolling experiments and sampling experiments on apple tissues and pork tissues,which verify the performance of the robot.
基金supported by the National Natural Science Foundations of China(Grant Nos.52105011 and 52305014)the Young Innovative Talents Project of Guangdong Province(Grant No.2021KQNCX071)+2 种基金the Guangdong Provincial Education and Research Projects(Grant No.2021GXJK173)the“Yangcheng Scholars”scientific research project of Guangzhou(Grant No.202235334)the Basic and applied basic research projects of Guangzhou(Grant No.2022JXGG108)。
文摘Using origami folding concepts to design novel mechanical metamaterials has recently become a prevalent framework.Inspired by the Kresling origami structure,this study proposes a double-layer Kresling origami metamaterial with reprogrammable shock stiffness.Two combination strategies are constructed,each with different geometric constraints and kinematic compatibility.They are identified as assigned with same torsion direction(ASTD)and assigned with opposite torsion direction(AOTD),respectively.The shock stiffness of two double-layer Kresling origami metamaterials is analyzed using the finite element method,and results indicate that the AOTD metamaterial has superior impact resistance.Furthermore,the programmability of shock stiffness of the metamaterial is carried out comprehensively,and the influence of each design parameter is exhibited in detail.Finally,two prototypes of ASTD and AOTD metamaterials are fabricated,and experimental tests verify the analysis outcomes.This study provides a new approach to constructing mechanical metamaterials with reprogrammable shock stiffness for applications in energy absorption and vibration isolation engineering.
基金National Natural Science Foundation of China,Grant/Award Numbers:62473244,62303291,62273222,12202256Foundation of Science and Technology Commission of Shanghai Municipality,Grant/Award Numbers:24511103800,24TS1402300Shanghai Sailing Program,Grant/Award Number:23YF1413200。
文摘The rapid growth of the aging population and the rising prevalence of motor disorders demand intelligent,user-centric rehabilitation technologies.Integrating artificial intelligence and the Internet of Things(AIoT)into sensor devices offers a powerful means of capturing limb motion data and assisting rehabilitation,thereby helping patients regain confidence and functional independence.This work presents a self-powered sensor based on a Kresling-structured thermoplastic polyurethane(TPU)substrate that integrates triboelectric nanogenerators(TENGs)and electromagnetic generators(EMGs).Optimizing the Kresling geometry and stiffness of the Kresling structure achieves high adaptability to human motion and high-sensitivity monitoring.The bistable design enables synergistic TENG-EMG signal outputs under axial compression and circumferential torsion,leveraging TENG sensitivity and EMG stability for reliable low-frequency motion detection.Using machine learning framework extracts multi-scale motion features,enabling identity verification,limb activity monitoring,and precise wrist tracking with classification accuracy all above 98%.Based on composite sensor signals and human-machine interaction(HMI),immersive and assistive wrist rehabilitation training is achieved through real-time feedback and applications such as claw machine.Additionally,interactive platforms including a“Dancing Machine”and a“Driving Simulator”integrate the sensor to explore brain-body collaborative rehabilitation.This work provides a low-cost,energy-efficient,and scalable solution for next-generation intelligent rehabilitation,paving the way for personalized,immersive,and user-centric therapy systems.
基金National Natural Science Foundation of China(52305014,52475008 and 52105011)Youth S&T Talent Support Programme of Guangdong Provincial Association for Science and Technology(SKXRC2025415)+2 种基金"Yangcheng Scholars"scientific research project of Guangzhou(202235334)Basic and applied basic research projects of Guangzhou(2022jXGG108)Start-up Fund for Talent Introduction at Guangzhou Jiaotong University(K42024013)。
文摘This paper presents a single-drive bio-inspired intestine robot that leverages the coupled rotational-contraction dynamics of Kresling origami structures and unidirectional valves to replicate intestinal peristalsis for directional transport.The minimalist design,comprising a servo motor,antagonistic chiral Kresling units,and check valves,enables continuous peristaltic wave propagation through reciprocal torsional input.Experimental validation demonstrates exceptional performance:transport speeds up to 20.91 mm/s,load capacity exceeding 97 g,and adaptability to objects spanning 32-46 mm in diameter across inclinations of 0°-90°.Key innovations include:(1)Biomechanical mimicry through antagonistic chiral units that convert rotation into radial contractions,replicating segmented intestinal propulsion;(2)Performance breakthroughs in speed and payload,enabled by efficient energy transfer from torsional kinematics;and(3)Valve-enabled directionality ensuring net forward displacement.Theoretical analysis establishes geometric constraints for valve-mediated transport,explaining the optimized operating range via valve aperture dynamics and material compliance.This work advances gastrointestinal robotics by addressing critical limitations in existing simulators:complex actuation,slow transport,and directional instability,providing a robust platform for medical applications such as segment artificial intestines replacement.
基金supported by the National Natural Science Foundation of China(Grant Nos.91748209 and 11402229)the specialized research projects of Huanjiang Laboratory.
文摘A novel wrist-inspired soft actuator,which is driven by a magneto-pneumatic hybrid system and based on a Kresling origami unit,is proposed.The geometric model,kinematic analysis model,and quasistatic analysis model of the Kresling origami unit are presented.A key focus is on the formulation and investigation of the variation in rotation angle using the kinematic analysis model.A wrist-inspired soft actuator is designed,and its quasistatic characteristics are validated through various experiments.The paper proposes an innovative magneto-pneumatic hybrid actuation method,capable of achieving bidirectional torsion.This actuation method is experimentally validated,demonstrating the actuator's ability to maintain 3 steady states and its capability for bidirectional torsion deformation.Furthermore,the paper highlights the potential of the Kresling origami unit in designing soft actuators capable of achieving large rotation angles.For instance,an actuator with 6 sides(n=6)is shown to achieve a rotation angle of 239.5°,and its rotation ratio exceeds 277°,about twice the largest one reported in other literature.The actuator offers a practical and effective solution for bidirectional torsion deformation in soft robotic applications.
