BIOLOCH BIO-mimetic structures for LOComotion in the Human

bodyhttp://www.ics.forth.gr/bioloch

Neuro-IT WorkshopLeuven, December 3, 2002

Paolo DarioProject Coordinator

Project funded by the Future and Emerging Technologies arm of the IST ProgrammeProject funded by the Future and Emerging Technologies arm of the IST ProgrammeThematic Priorities: IST-2001-VI.2.3Thematic Priorities: IST-2001-VI.2.3

Starting date: May 1, 2002End date: April 30, 2005Project Duration: 36 monthsFunding: Total costs: € 1.654.570 Community Funding: € 1.503.900

Partners: Scuola Superiore Sant’Anna (SSSA) -

Pisa (I) – Co-ordinator University of Bath, Department of

Mechanical Engineering (UBAH Mech Eng) – United Kingdom

Centro "E. Piaggio", Faculty of Engineering, University of Pisa (UniPi) - Italy

FORTH - Foundation for Research and Technology – Hellas (FORTH) - Greece

University of Tuebingen, Section for minimally invasive surgery (UoT) - Germany

Project Coordinator: Prof. Paolo Dario

CRIM Lab - Scuola Superiore S. AnnaPiazza Martiri della Libertà, 33

56127 PISA (ITALY)

Tel. +39-050-883400 / +39-050-883401Fax. +39-050-883402e-mail: dario@mail-arts.sssup.it web site: http://www-crim.sssup.it

List of Principal Investigators of BIOLOCH Project Co-ordinator: Prof. Paolo DarioProject Manager: Dr. Arianna Menciassi

Technical Team Co-ordinatorsSSSA: Prof. Paolo DarioUBAH Mech Eng : Prof. Julian VincentUniPi: Prof. Danilo De RossiFORTH : Dr. Dimitris TsakirisUoT : Prof. Marc Schurr

IST-2001-IST-2001-3418134181 - BIOLOCH - BIOLOCH BIO-mimetic structures for LOComotion BIO-mimetic structures for LOComotion

in the Human bodyin the Human body

WHAT is the OBJECTIVE of the project

Objective• To understand motion and

perception systems of lower animal forms

• To design and fabricate mini- and micro-machines inspired by such biological systems.

Long term goal

A new generation of autonomous smart machines with:

• life-like interaction with the environment

• performance comparable to the animals by which they are inspired.

Envisaged application(s)The "inspection" problem in medicine ( microendoscopy); and…“Rescue” micro-robotics;Underground (space?) exploration

HOW we plan to ADDRESS the objectives

Locomotion models

Nereis

Adhesion models Suction

Earthworm

Setae friction

ApplicationsEndoscopyUndergroundlocomotion

Rescue

Enabling Technologies

Taxonomy of locomotion mechanisms and their classification according to engineering principles (1/3)Adhesion by: suction, friction, biological glue, van der

Waals force

Force Ease of replication

Type of surface

Stability

Suction

Friction

Biological Glue

Van der Waals

Force Ease of replication

Type of surface

Stability

Suction 2 5 Smooth 2

Friction 3 5 Rough 4

Biological Glue 1 2 Both 1

Van der Waals 5 1 Smooth 3

Taxonomy of locomotion mechanisms and their classification according to engineering principles (2/3)Locomotion by: paddle-worm, pedal,

earthworm/peristaltic, serpentine, rectilinear-serpentine

muscles

scale

Energy consumptio

nContact surface Stability

Ease of artificial

replication and control

Pedal

Peristlatic

Contract-anchor-extend

Serpentine

Rectilinear

Concertina

Sidewinding

Polypedal (4 legs)

Polypedal (6 legs)

Energy consumptio

nContact surface Stability

Ease of artificial

replication and control

Pedal 1 Rough, wet 5 5

Peristlatic 1 Rough, wet 5 4

Contract-anchor-extend

1 Rough, wet 5 4

Serpentine 4 Rough 5 2

Rectilinear 3 Flat 5 2

Concertina 3 Not enough frictional

5 2

Sidewinding 4 Not rigid (sandy soil) 5 1

Polypedal (4 legs)

5 All 3 1

Polypedal (6 legs)

2 All 4 2

Taxonomy of locomotion mechanisms and their classification according to engineering principles (3/3)

The nervous system of the earthworm is "segmented" just like the rest of the body the "brain" is located above the pharynx and is connected to the first ventral ganglion the brain is important for movement:

if the brain of the earthworm is removed, the earthworm will move continuously; if the first ventral ganglion is removed, the earthworm will stop eating and will not dig.

Each segmented ganglion gets sensory information from only a local region of its body and controls muscles only in this local region. Earthworms have touch, light, vibration and chemical receptors all along the entire body surface.

Earthworm: an example of biological perception-reaction mechanism

0

0,2

0,4

0,6

0,8

1

1,2

1,4

1,6

1,8

1 2 3 4 5 6 7 8 9 10

1 cm

1.5 cm

2 cm

2.5 cm

Force / Step ratio, „grasping leg“, muscular attachment

Medical specifications

Parameters forwalking inside the colon• Forces• Wall elasiticity

Mesenteric hazards:

• Tears

• Ruptures

Parameters forcreeping insidethe colon• With tail• Without tail

Colonic hazards• Perforation

Mesenteric resistance

Colonic wall resistance

Force / step ratioDevice advancement forces

Force pattern overviewForce pattern overview

Description of force parameters of the colonic tract in interaction with endoscopic devices and techniques

Design and fabrication of bio-inspired adhesion mechanisms

(a) normal configuration; (b) flow in; (c) flow out

Friction is enhanced when the compliant tips

are pushed outward

When sliding part moves upward: a vacuum is generated (sucker can work); the membrane is stretched (hooks can grasp the tissue)

Cylinder of polimeric material (Nylon)

Aluminium hooks are used to create a special wax mould to fill with Epotex (epoxy bicomponent resin).

Model and simulation of the polychaete locomotion mechanism

The polychaete (paddle-worm) can move in water or mud environments thanks to a sinusoidal motion joined with a passive motion of lateral paddles. The motion waves are perpendicular to the locomotion direction. The friction between the surface and the paddles is a parameter which can be adjusted.

Model and simulation of the inchworm/peristaltic locomotion mechanism

tx

x

txxtx

tx

x

rrr

xr

,

0

,2

0,

2,

1

1

Trajectory of a generic point on the surface of the Earthworm expressed as % of the length

Small radial displacements (<0.5%) corresponds to long axial displacements (>5%), which is optimal for locomotion

Enabling technologies: design paradigm

Smart actuators for

active membranes

Swimming and cilia robotic ion-polymer metal

composites (IPMC) structures

Shape memory pol.

Shape memory gel submitted to coiled

between 50°C and room temperature

Active membrane

Enabling technologies: an outline on smart actuators

ATTACHMENTSENSATION PROPULSION

yes

LOOP

ATTACHMENT

no

Figure B4.1 –Perception –reaction loop

Enabling technologies: sensing and control

3 axis force microsensor

1 mm

F

Section of sensor 3D model

Preliminary technological implementations

Friction-based minirobot: two counter motors, an eccentric mass, asymmetrical skates

Artificial paddle-worm

Inchworm locomotion with “biological” glue

IPMC actuator for hook protruding

WHAT would be the IMPACT of the project

The main expected results of BIOLOCH are new design paradigms and engineering models for an entirely new generation of biomimetic mini- and micro-machines able to navigate in tortuous and “soft” environments in a life-like manner.

To exploit a sophisticated biomimetic hardware structure (incorporating complex mechanisms, sensors, actuators and embedded signal processing) to explore advanced biomimetic control strategies.

Proposed VISIONARY ACTIONS for a future FET program in the 6FP

Collaborative ensemble of micro-burrowers (proposal for visionary actions starting from the BIOLOCH Project?)

Autonomous micro-burrowers, able to operate in a collaborative manner in the pursuit of a common goal underground. Such a group of micro-burrowers could be valuable in the context of search and rescue (S&R) operations for people trapped in buildings, mines, etc., which may have collapsed as a result of earthquakes, attacks, etc. These sensor-carrying robots could be sent to explore this underground, unstructured environment, possibly having to dig through rubble, in order to gain access to victims, structures or equipment. The solutions that biological organisms (e.g. ants, bees) have developed for communication, coordination, cooperative localization and planning, could provide valuable insights in such an endeavor.

 

 

 

ULTER-ENDO - Ultimate Microendoscopy (EoI – IP)The objective of the project is to incorporate in microendoscopes technologies and tools which would allow a revolution rather that an evolution of current endoscopes and therapeutic procedures… Decreasing the size of endoscopic devices down to 1-2 millimeter (in diameter) by keeping the same functionalities of traditional tools involves a dramatic effort in terms of design capabilities, fabrication technologies, and integration techniques. This approach requires a strong activity which involves basic and applied research with no incremental but totally innovative features:

the wireless “super”pill and the wired brain -endoscope