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Biomechanics of Musculoskeletal System and Its Biomimetic Implications： A Review

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Journal of Bionic Engineering 2014年第2期11卷 159-175页

作者： Lei ren Zhihui Qian luquan ren School of Mechanical Aerospace and Civil Engineering University of Manchester Manchester M13 9PL UK Key Laboratory of Bionic Engineering (Ministry of Education China) Jilin University Changchun 130022 P. R. China

Biological musculoskeletal system （MSK）, composed of numerous bones, cartilages, skeletal muscles, tendons, ligaments etc., provides form, support, movement and stability for human or animal body. As the result of million years of selection and evolution, the biological MSK evolves to be a nearly perfect mechanical mechanism to support and transport the human or animal body, and would provide enormously rich resources to inspire engineers to innovate new technology and methodology to develop robots and mechanisms as effective and economical as the biological systems. This paper provides a general review of the current status of musculoskeletal biomechanics studies using both experimental and computational methods. This includes the use of the latest three-dimensional motion analysis systems, various medical imaging modalities, and also the advanced rigid-body and continuum mechanics musculoskeletal modelling techniques. Afterwards, several representative biomimetic studies based on ideas and concepts inspired from the structures and biomechanical functions of the biological MSK are dis- cussed. Finally, the major challenges and also the future research directions in musculoskeletal biomechanics and its biomimetic studies are proposed.

关键词： musculoskeletal system biomechanics multi-scale biomimetics biologically inspired robots and mechanisms

Load-dependent Variable Gearing Mechanism of Muscle-like Soft Actuator

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Journal of Bionic Engineering 2022年第1期19卷 29-43页

作者： Yingjie Wang Chunbao Liu luquan ren Lei ren School of Mechanical and Aerospace Engineering Jilin UniversityChangchun130022China Key Laboratory of Bionic Engineering Ministry of EducationJilin UniversityChangchun130022China School of Mechanical Aerospace and Civil EngineeringUniversity of ManchesterManchesterM139PLUK

Pennate muscle is characterized by muscle fibers that are oriented at a certain angle(pennation angle)relative to the muscle’s line of action and rotation during *** fiber rotation amplifies the shortening velocity of muscle,to match loading conditions without any control *** unique variable gearing mechanism,which characterized by Architecture Gear Ratio(AGR),is involves complex interaction among three key elements:muscle fibers,connective tissue,and the pennation ***,how three elements determine the AGR of muscle-like actuator is still *** study introduces a Himisk actuator that arranges five contractile units at a certain pennation angle in a flexible matrix,the experiment and simulation results demonstrated that the proposed actuator could vary AGR automatically in response to variable loading *** on this actuator,we present a series of actuators by simulations with the varying pennation angle(P),elastic modulus of the flexible matrix(E),and number of contractile units(N)to analyze their effects on AGR,and their interaction by three-factor analysis of *** results demonstrated that P and N effect on the AGR significantly,while E effects on AGR slightly,which supported the idea that the P is the essential factor for the AGR,and N is also an important factor due to the capability of force *** provides a better understanding of mechanical behavior and an effective optimizing strategy to muscle-like soft actuator.

关键词： Bioinspired Actuator Pennate muscle Gearing mechanism

A Humanoid Method for Extracting Abnormal Engine Sounds from Engine Acoustics Based on Adaptive Volterra Filter

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Journal of Bionic Engineering 2012年第2期9卷 262-270页

作者： Li Zhang luquan ren Yaowu Shi Zhuhai College Jilin University Zhuhai 519041 P. R. China Key Laboratory of Bionic Engineering （Ministry of Education China） Jilin University Changchun 130022 P. R. China Communication College Jilin University Changchun 130022 P. R. China

The improvement of SNR （Signal-to-Noise Ratio） of abnormal engine sounds is of great help in improving the accuracy of engine fault diagnosis. By imitating the way that human technicians use to distinguish abnormal engine sounds from engine acoustics, a humanoid abnormal sound extracting method is proposed. By implementing adaptive Volterra filter in the canonical Adaptive Noise Cancellation （ANC） system, the proposed method is capable of tracing the engine baseline sound which exhibits an intrinsic nonlinear dynamics. Besides, by introducing a template noise tailored from the records of engine baseline sound and taking it as virtual input of the adaptive Volterra filter, the priori knowledge of engine baseline sound, such as inherent correlation, periodicity or phase information, and stochastic factors, is taken into consideration. The hybrid simulations prove that the proposed method is functional. Since the method proposed is essentially a single-sensor based ANC, hopefully, it may become an effective way to extricate the dilemma that canonical dual-sensor based ANC encounters when it is used in extracting fault-featured signals from observed signals.

关键词： bionic signal processing engine noise diagnosis adaptive Volterra filter adaptive noise cancellation

Preliminary studies on the basic factors of bionics

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Science China(Technological Sciences) 2014年第3期57卷 520-530页

作者： ren luquan LIANG YunHong Key Laboratory of Bionic Engineering (Ministry of Education) Jilin University

The bionic consciousness,idea,and practice opened a unique path for the progress of mankind,the development of the society,and the innovation of science and technology from the subconscious bionic activities of the ancient humans to the significant bionic designs in modern ***,driven by the practical demand of human beings,bionics becomes an important factor for the sustainable development of technology.A lot of new and outstanding innovations have been produced through the effective interactions between bionics,technology,and *** stronger the interactions,the greater the innovation success would *** this article,the basic factors such as the connotation,characteristics,and interactions of bionic demands,bionic models,bionic simulations,and bionic products were explained,which are the indispensable basic knowledge for improving the ability of innovation especially for the original one,realizing the design and innovation of new technology and manufacturing for better bionic products.

关键词： bionic demands bionic models bionic simulations bionic products

Biological couplings: Classification and characteristic rules

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Science China(Technological Sciences) 2009年第10期52卷 2791-2800页

作者： ren luquan LIANG YunHong Key Laboratory of Bionic Engineering of Ministry of Education School of Biological and Agricultural EngineeringJilin UniversityChangchun 130025China

The phenomena that biological functions originate from biological coupling are the important biological foundation of multiple bionics and the significant discoveries in the bionic fields. In this paper, the basic concepts related to biological coupling are introduced from the bionic viewpoint. Constitution, classification and characteristic rules of biological coupling are illuminated, the general modes of biological coupling studies are analyzed, and the prospects of multi-coupling bionics are predicted.

关键词： organism biological function biological coupling characteristic rule coupling bionics

Bioinspired soft actuators with highly ordered skeletal muscle structures

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Bio-Design and Manufacturing 2022年第1期5卷 174-188页

作者： Yingjie Wang Chunbao Liu luquan ren Lei ren School of Mechanical and Aerospace Engineering Jilin UniversityChangchun 130022China School of Mechanical Aerospace and Civil EngineeringUniversity of ManchesterManchester M139PLUK Key Laboratory of Bionic Engineering Ministry of EducationJilin UniversityChangchun 130022China

Mammals such as humans develop skeletal muscles composed of muscle fibers and connective tissue,which have mechanical properties that enable power output with three-dimensional motion when *** muscle-like actuators developed to date,such as the McKibben artificial muscle,often focus sole contractile elements and have rarely addressed the contribution of flexible connective tissue that forms an integral part of the structure and morphology of biological ***,we present a class of pneumatic muscle-like actuators,termed highly mimetic skeletal muscle(HimiSK)actuator,that consist of parallelly arranged contractile units in a flexible matrix inspired by ultrasonic measurements on skeletal *** contractile units act as a muscle fiber to produce active shortening force,and the flexible matrix functions as connective tissue to generate passive *** application of positive pressure to the contractile units can produce a linear contraction and *** this actuator,we assign different flexible materials as contractile units and a flexible matrix,thus forming five mold *** actuators feature three-dimensional motion on activation and present both intrinsic force-velocity and force-length characteristics that closely resebmle those of a biological *** output and tetanic force produced by harder contractile units improve the maximum output force by up to about 41.3%and the tetanic force by up to about 168%.Moreover,high displacement and velocity can be generated by a softer flexible matrix,with the improvement of maximum displacement up to about 33.3%and velocity up to about 73%.The results demonstrate that contractile units play a crucial role in force generation,while the flexible matrix has a significant impact on force transmission and deformation;the final force,velocity,displacement,and three-dimensional motion results from the interplay of contractile units,fluid and flexible *** approach introduces a m

关键词： Bioinspired Soft robotics Actuator Skeletal muscle

Particle Erosion Resistance of Bionic Samples Inspired from Skin Structure of Desert Lizard, Laudakin stoliczkana

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Journal of Bionic Engineering 2012年第4期9卷 465-469页

作者： He Huang Yan Zhang luquan ren Key Laboratory of Bionic Engineering (Ministry of Education China) Jilin University Changchun 130022 P. R. China College of Mechanical Engineering Tianjin University of Science and Technology Tianjin 300222 P. R. China

In order to improve the particle erosion resistance of engineering surfaces, this paper proposed a bionic sample which is inspired from the skin structure of desert lizard, Laudakin stoliczkana. The bionic sample consists of a hard shell （aluminum） and a soft core （silicone rubber） which form a two-layer composite structure. The sand blast tests indicated that the bionic sample has better particle erosion resistance. In steady erosion period, the weight loss per unit time of the bionic sample is about 10% smaller than the contrast sample. The anti-erosion mechanism of the bionic sample was studied by single particle impact test. The results show that, after the impact, the kinetic energy of the particle is reduced by 56.5% on the bionic sample which is higher than that on the contrast sample （31.2%）. That means the bionic sample can partly convert the kinetic energy of the particle into the deformation energy of the silicone rubber layer, thus the erosion is reduced.

关键词： bionics particle erosion sand blast desert lizard

A Review of Biological Fluid Power Systems and Their Potential Bionic Applications

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Journal of Bionic Engineering 2019年第3期16卷 367-399页

作者： Chunbao Liu Yingjie Wang luquan ren Lei ren School of Mechanical and Aerospace Engineering Jilin University Changchun 130022 China Key Laboratory of Bionic Engineering Ministry of Education Jilin University Changchun 130022 China School of Mechanical Aerospace and Civil Engineering University of Manchester Manchester M13 9PL UK

Nature has always inspired human achievements in industry, and biomimetics is increasingly being applied in fluid power technology. Arachnida use hydraulic forces, rather than muscle, for leg extensions during locomotion. Many cold-blooded and soft-bodied organisms rely on a hydrostatic skeleton to transmit force, which involves a hydraulic mechanism. Biological hydraulic transmission differs from engineering hydraulic transmission in many aspects, such as in energy transfer and transformation, the movement mode, environmental friendliness, system pressure level, and energy supplement mode. The existence of a hydraulic mechanism in a biological drive requires 3 features: a power source, cavity, and working medium. The power source is similar to a hydraulic pump, and the cavity is similar to a hydraulic cylinder, both of which are necessary for producing deformation. The working medium is similar to a hydraulic fluid. Under these 3 conditions, a biological flow is generated inside or outside the body to meet the requirements of a biological drive. This paper reviews the biological organisms that employ hydraulic systems, identifies related studies on these biological hydraulic systems, and summarizes the mechanisms involved in using hydraulic pressure to achieve graceful and agile movements. This in-depth study and exploration of biological hydraulic systems can provide a good reference for solving the challenges of using hydraulic systems, such as increasing the energy efficiency, improving reliability, building smart components and systems, reducing the size and weight of components, reducing the environmental impact of systems, and improving and applying energy storage and redeployment capabilities. This paper also includes a detailed discussion of new ideas and innovative sources for the future development of hydraulic systems. In contrast with the bio-inspired designs used in other engineering fields, very few studies have reported on using bio-inspired methods

关键词： bionic fluid power pressurized liquids locomotion bio-inspired applications

The terrestrial locomotion of a mole cricket with foreleg amputation

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Science China(Technological Sciences) 2015年第6期58卷 999-1006页

作者： ZHANG Yan ZHANG JunXia ren luquan College of Mechanical Engineering Tianjin University of Science and Technology Key Laboratory of Bionic Engineering (Ministry of Education China) Jilin University

Mole cricket is a unique insect, it not only can dig and excavate under ground with its specialized forelimb, but also can achieve terrestrial locomotion. This study focused on the difference of kinematics between mole crickets and normal insects in terrestrial walking. In order to study the function of the specialized foreleg, the adjustments made to the foreleg amputation were discussed by analyzing the motion ability, gait, and body posture of the mole cricket with and without forelegs. The re- suits show that mole crickets walk in terrestrial locomotion by using a special tripod gait, with the clumsy foreleg not as func- tional as normal hexapods. Mole cricket can make corresponding adjustments for the situation of missing forelegs, and achieve required molion stability with remained four legs.

关键词： experimental biology mole cricket gait kinematics amputation