BIOLOCH BIO -mimetic structures for LOC omotion in the H uman body http://www.ics.forth.gr/bioloch. Paolo Dario Project Coordinator. Neuro-IT Workshop Leuven, December 3, 2002. IST-2001- 34181 - BIOLOCH BIO-mimetic structures for LOComotion in the Human body.
Leuven, December 3, 2002
List of Principal Investigators of BIOLOCH
Project Co-ordinator: Prof. Paolo Dario
Project Manager: Dr. Arianna Menciassi
Technical Team Co-ordinators
SSSA: Prof. Paolo Dario
UBAH Mech Eng : Prof. Julian Vincent
UniPi: Prof. Danilo De Rossi
FORTH : Dr. Dimitris Tsakiris
UoT : Prof. Marc Schurr
Project Coordinator: Prof. Paolo Dario
CRIM Lab - Scuola Superiore S. AnnaPiazza Martiri della Libertà, 33
56127 PISA (ITALY)
Tel. +39-050-883400 / +39-050-883401Fax. +39-050-883402e-mail: [email protected] site: http://www-crim.sssup.it
RescueHOW we plan to ADDRESS the objectives
and their classification according to engineering principles (1/3)
Adhesion by:suction, friction, biological glue, van der Waals force
and their classification according to engineering principles (2/3)
Locomotion by:paddle-worm, pedal, earthworm/peristaltic, serpentine, rectilinear-serpentine
and their classification according to engineering principles (3/3)
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.
Force pattern overview
Description of force parameters of the colonic tract in interaction with endoscopic devices and techniques
Force / step ratio
Device advancement forces
Colonic wall resistance
Cylinder of polimeric material (Nylon) mechanism
Aluminium hooks are used to create a special wax mould to fill with Epotex (epoxy bicomponent resin).
When sliding part moves upward: a vacuum is generated (sucker can work); the membrane is stretched (hooks can grasp the tissue)
Design and fabrication of bio-inspired adhesion mechanisms
Friction is enhanced when the compliant tips are pushed outward
(a) normal configuration; (b) flow in; (c) flow out
Model and simulation of the mechanismpolychaete 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.
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
Model and simulation of the inchworm/peristaltic locomotion mechanism
Enabling technologies: design paradigm Earthworm expressed as % of the length
Enabling technologies: an outline on smart actuators Earthworm expressed as % of the length
Swimming and cilia roboticion-polymer metal composites (IPMC) structures
Smart actuators for active membranes
Shape memory gel submitted to coiled between 50°C and room temperature
Shape memory pol.
Enabling technologies: sensing and control Earthworm expressed as % of the length
3 axis force microsensor
Section of sensor 3D model
Preliminary technological implementations Earthworm expressed as % of the length
Friction-based minirobot: two counter motors, an eccentric mass, asymmetrical skates
IPMC actuator for hook protruding
Inchworm locomotion with “biological” glue
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.
ULTER-ENDO Earthworm expressed as % of the length- UltimateMicroendoscopy(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 m-endoscopeProposed 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.