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Pulsed electromagnetic field stimulation enhances neurite outgrowth in neural cells and modulates inflammation in macrophages

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Engineered Regeneration 2024年第1期5卷 80-91页

作者： Francesco Fontana Andrea Cafarelli Francesco Iacoponi Soria Gasparini Tiziano Pratellesi Abigail NKoppes Leonardo Ricotti The biorobotics Institute Scuola Superiore Sant’Anna56127 PisaItaly Department of Excellence in Robotics&AI Scuola Superiore Sant’Anna56127 PisaItaly BAC Technology s.r.l. 50063 FlorenceItaly Department of Chemical Engineering Northeastern UniversityBostonMA 02115USA Department of Bioengineering Northeastern UniversityBostonMA 02115USA Department of Biology Northeastern UniversityBostonMA 02115USA

Nerve regeneration following traumas remains an unmet *** application of pulsed electromagnetic field(PEMF)stimulation has gained traction for a minimally invasive regeneration of ***,a sys-tematic exploration of different PEMF parameters influencing neuron function at a cellular level is not *** this study,we exposed neuroblastoma F11 cells to PEMF to trigger beneficial effects on neurite *** carrier frequencies,pulse repetition frequencies,and duty cycles were screened with a custom ad hoc setup to find the most influential parameters values.A carrier frequency of 13.5 MHz,a pulse repetition frequency of 20 Hz,and a duty cycle of 10%allowed maximal neurite outgrowth,with unaltered viability with respect to non-stimulated ***,in a longer-term analysis,such optimal conditions were also able to in-crease the gene expression of neuronal expression markers NeuN and Tuj-1 and transcription factor ***,the same optimal stimulation conditions were also applied to THP-1 macrophages,and both pro-inflammatory(TNF-α,IL-1β,IL-6,IL-8)and anti-inflammatory cytokines(IL-10,CD206)were *** optimal PEMF stimulation parameters did not induce differentiation towards an M1 macrophage phenotype,decreased IL-1β and IL-8 gene expression,decreased TNF-α and IL-8 cytokine release in M1-differentiated cells,increased IL-10 and CD206 gene expression,as well as IL-10 cytokine release in M0 *** specific PEMF stimulation regime,which is optimal in vitro,might have a high potential for a future in vivo translation targeting neural regeneration and anti-inflammatory action for treating peripheral nerve injuries.

关键词： Nerve regeneration Biophysical stimulation Pulsed electromagnetic fields(PEMF) Neurite outgrowth Anti-inflammatory Peripheral nerve injuries

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A Novel Biopsy Capsule Robot Based on High-Speed Cutting Tissue

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Cyborg and Bionic Systems 2022年第1期2022卷 118-128页

作者： Zhibin Song Wenjie Zhang Wenhui Zhang Dario Paolo Key laboratory of Mechanism Theory and Equipment Design of the Ministry of Educat ion Tianjin UniversityTianjin 300072China Bejing Shijitan Hospital Capital Medical UniversityBeijing 100084China The biorobotics Institute Scuola Superiore Sant'Anna56100 PisaItaly

The capsule robot(CR)is a promising endoscopic method in gastrointestinal diagnosis because of its low discomfort to *** CRs are used to acquire image information only and lack the ability to collect *** some biopsy capsule robots(BCRs)have been developed,it remains challenging to acquire the intestinal tissue while avoiding tearing and adhesion due to the flexibility of colonic *** this study,we develop a BCR with a novel sampling strategy in which soft tissue is scratched with sharp blades rotating at high speed to avoid tissue *** the BCR design,a spiral spring with prestored energy is used to release high energy within a short period of time,which is dificult for a motor or magnet to perform within a small capacity installation *** energy of the tightened spiral spring is transmitted to drive sharp blades to rotate quickly via a designed gear *** guarantee reliable sampling,a Bowden cable is used to transmit the user's manipulation to trigger the rotation of the blades,and the triggering force transmitted by the able can be monitored in real time by a force sensor installed at the manipulating end.A prototype of the proposed BCR is designed and fabricated,and its performance is tested through in vitro *** results show that the proposed BCR is effective and the size of its acquired samples satisfies dinical requirements.

关键词： Robot guarantee rotating

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A Flexible Fin with Bio-Inspired Stiffness Profile and Geometry

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Journal of Bionic Engineering 2011年第4期8卷 418-428页

作者： T. Salumae M. Kruusmaa Centre for biorobotics Tallinn University of Technology Akadeemia tee 15A-111 12618 Tallinn Estonia

Biological evidence suggests that fish use mostly anterior muscles for steady swimming while the caudal part of the body is passive and, acting as a carrier of energy, transfers the momentum to the surrounding water. Inspired by those findings we hypothesize that certain swimming patterns can be achieved without copying the distributed actuation mechanism of fish but rather using a single actuator at the anterior part to create the travelling wave. To test the hypothesis a pitching flexible fin made of silicone rubber and silicone foam was designed by copying the stiffness distribution profile and geometry of a rainbow trout. The kinematics of the fin was compared to that of a steadily swimming trout. Fin＇s propulsive wave length and tail-beat am- plitude were determined while it was actuated by a single servo motor. Results showed that the propulsive wave length and tail-beat amplitude of a steadily swimming 50 cm rainbow trout was achieved with our biomimetic fin while stimulated using certain actuation parameters （frequency 2.31 Hz and amplitude 6.6 degrees）. The study concluded that fish-like swimming can be achieved by mimicking the stiffness and geometry of a rainbow trout and disregarding the details of the actuation mechanism.

关键词： biomimetics stiffness profile fin robotics fish

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Biomimetic Autopilot Based on Minimalistic Motion Vision for Navigating along Corridors Comprising U-shaped and S-shaped Turns

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Journal of Bionic Engineering 2015年第1期12卷 47-60页

作者： Julien R. Serres Franck Ruffier Aix-Marseille UniversitY CNRS ISM UMR 7287 Biorobotics Lab 13288 Marseille Cedex 09 France

A bioinspired autopilot is presented, in which body saccadic and intersaceadic systems are combined. This autopilot en- ables a simulated hovercraft to travel along corridors comprising L-junctions, U-shaped and S-shaped turns, relying on mini- realistic motion vision cues alone without measuring its speed or distance from walls, in much the same way as flies and bees manage their flight in similar situations. The saccadic system responsible for avoiding frontal collisions triggers yawing body saccades with appropriately quantified angles based simply on a few local optic flow measurements, giving the angle of inci- dence with respect to a frontal wall. The simulated robot negotiates stiff bends by triggering body saccades to realign its tra- jectory, thus traveling parallel with the wall along a corridor comprising sharp turns. Direct comparison shows that the per- formance of this new body saccade-based autopilot closely resembles the behavior of a fly using similar body saccade strategy when flying along a corridor with an S-shaped turn, despite the huge differences in terms of the inertia.

关键词： optic flow collision avoidance body saccades insect flight biorobotics biomimetics

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Is bigger better？ Male body size affects wing-borne courtship signals and mating success in the olive fruit fly, Bactrocera oleae （Diptera： Tephritidae）

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Insect Science 2016年第6期23卷 869-880页

作者： Giovanni Benelli Elisa Donati Donato Romano Giacomo Ragni Gabriella Bonsignori Cesare Stefanini Angelo Canale Insect Behaviour Group Department of Agriculture Food and Environment University of Pisa Pisa The biorobotics Institute Sant'Anna School of Advanced Studies Pontedera Italy

Variations in male body size are known to affect inter- and intrasexual selection outcomes in a wide range of animals. In mating systems involving sexual signaling before mating, body size often acts as a key factor affecting signal strength and mate choice. We evaluated the effect of male size on courtship displays and mating success of the olive fruit fly, Bactrocera oleae （Diptera： Tephritidae）. Wing vibrations performed during successful and unsuccessful courtships by large and small males were recorded by high-speed videos and analyzed through frame-by-frame analysis. Mating success of large and small males was investigated. The effect of male-male competition on mating success was evaluated. Male body size affected both male courtship signals and mating outcomes. Successful males showed wing-borne signals with high frequencies and short interpulse intervals. Wing vibrations displayed by successful large males during copulation attempt had higher frequencies over smaller males and unsuccessful large males. In no-competition conditions, large males achieved higher mating success with respect to smaller ones. Allowing large and small males to compete for a female, large males achieve more mating success over smaller ones. Mate choice by females may be based on selection of the larger males, able to produce high-frequency wing vibrations. Such traits may be indicative of ＂good genes,＂ which under sexual selection could means good social-interaction genes, or a good competitive manipulator of conspecifics.

关键词： communication channels courtship call male-male competition mate choice sexual selection social resources

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Singing on the wings! Male wing fanning performances affect female willingness to copulate in the aphid parasitoid Lysiphlebus testaceipes （Hymenoptera： Braconidae： Aphidiinae）

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Insect Science 2016年第4期23卷 603-611页

作者： Giovanni Benelli Nickolas G. Kavallieratos Elisa Donati Giulia Giunti Cesare Stefanini Angelo Canale Insect Behavior Group Department of Agriculture Food and Environment University of Pisa Pisa Italy laboratory of Agricultural Entomology Department of Entomology and Agricultural Zoology Benaki Phytopathological Institute Kifissia Attica Greece The biorobotics Institute Sant'Anna School of Advanced Studies Pontedera Pisa Italy

Lysiphlebus testaceipes （Hymenoptera： Braconidae： Aphidiinae） is a generalist endoparasitoid attacking more than 100 aphid species. In L. testaceipes, wing fanning is a main male courtship display evoked by a female-borne sex pheromone. However, no information is available on the characteristics and behavioral role of male fanning during courtship in this parasitoid. Here, the courtship behavior of a wild strain ofL. testaceipes was quantified and the male wing fanning performances were analyzed through high-speed video recordings and examined in relation to mating success. Courtship sequence of wild L. testaceipes did not substantially differ from that previously reported for other populations mass reared on aphids. We observed that the male courtship duration did not affect mating success. However, video analysis revealed that the males producing high-frequency fanning signals achieved higher mating success over those that display low-frequency fanning. Wing fanning before successful and unsuccessful courtship differed in amplitude of wing movements and alignment toward the mate, highlighting that frontal courtship positively influence the female mating decisions. This study increases knowledge on sexual behavior in a key parasitoid of aphids, highlighting the importance of wing fanning among the range of sensory modalities used in the sexual communication ofL. testaceipes. From a practical point of view, this information is useful in L. testaceipes-based biocontrol strategies, since it can help to establish parameters for quality checking of mass-reared wasps over time.

关键词： biocontrol agent courtship mating success parasitic wasp sensory ecology sexual communication

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Emotion Modelling for Social Robotics Applications： A Review

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Journal of Bionic Engineering 2018年第2期15卷 185-203页

作者： Filippo Cavallo Francesco Semeraro Laura Fiorini Gergely Magyar Peter Sincadk Paolo Dario biorobotics Institute Seuola Superiore Sant'Anna Pontedera 56025 Italy Department of Cybernetics and Artificial Intelligence Faculty of Electrical Engineering and Informatics Technical University of Kosice Kosice 04001 Slovakia

Robots of today are eager to leave constrained industrial environments and embrace unexplored and unstructured areas, for extensive applications in the real world as service and social robots. Hence, in addition to these new physical frontiers, they must face human ones, too. This implies the need to consider a human-robot interaction from the beginning oft_he design; the possibility for a robot to recognize users＇ emotions and, in a certain way, to properly react and ＂behave＂. This could play a fundamental role in their integration in society. However, this capability is still far from being achieved. Over the past decade, several attempts to implement automata for different applications, outside of the industry, have been pursued. But very few applications have tried to consider the emotional state of users in the behavioural model of the robot, since it raises questions such as： how should human emotions be modelled for a correct representation of their state of mind？ Which sensing modalities and which classification methods could be the most feasible to obtain this desired knowl- edge？ Furthermore, which applications are the most suitable for the robot to have such sensitivity？ In this context, this paper aims to provide a general overview of recent attempts to enable robots to recognize human emotions and interact properly.

关键词： social robotics service robotics human-robot interaction emotion recognition robot learning robot behavioural model bionics

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Mechanics of tubular helical assemblies:ensemble response to axial compression and extension

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Acta Mechanica Sinica 2021年第2期37卷 173-186页

作者： Jacopo Quaglierini Alessandro Lucantonio Antonio DeSimone Department of Excellence in Robotics and AI The BioRobotics InstituteScuola Superiore Sant'Anna56127 PisaItaly SISSA-Scuola Intemazionale Superiore di Studi Avanzati 34136 TriesteItaly

Nature and technology often adopt structures that can be described as tubular helical ***,the role and mechanisms of these structures remain *** this paper,we study the mechanical response under compression and extension of a tubular assembly composed of 8 helical Kirchholf rods,arranged in pairs with opposite chirality and connected by pin joints,both analytically and *** first focus on compression and find that,whereas a single helical rod would buckle,the rods of the assembly deform coherently as stable helical shapes wound around a common ***,we investigate the response of the assembly under different boundary conditions,highlighting the emergence of a central region where rods remain circular ***,we study the effects of different hypotheses on the elastic properties of rods,i.e.,stress-free rods when straight versus when circular helices,Kirchhoff’s rod model versus Sadowsky’s ribbon *** up,our findings highlight the key role of mutual interactions in generating a stable ensemble response that preserves the helical shape of the individual rods,as well as some interesting features,and they shed some light on the reasons why helical shapes in tubular assemblies are so common and persistent in nature and technology.

关键词： Computational mechanics Helical assemblies Kirchhoff rod Sadowsky ribbon Ensemble response

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Design,analysis,and neural control of a bionic parallel mechanism

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Frontiers of Mechanical Engineering 2021年第3期16卷 468-486页

作者： Yaguang ZHU Shuangjie ZHOU Ruyue LI Manoonpong PORAMATE The Key laboratory of Road Construction Technology and Equipment of MOE Chang’an UniversityXi’an 710064China State Key laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310027China Embodied Artificial Intelligence&Neurorobotics laboratory SDU BioroboticsThe Maersk Mc-Kinney Moller InstituteThe University of Southern DenmarkOdense 5230Denmark The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and AstronauticsNanjing 210016China The School of Information Science&Technology Vidyasirimedhi Institute of Science&TechnologyRayong 21210Thailand

Although the torso plays an important role in the movement coordination and versatile locomotion of mammals,the structural design and neuromechanical control of a bionic torso have not been fully *** this paper,a parallel mechanism is designed as a bionic torso to improve the agility,coordination,and diversity of robot *** mechanism consists of 6-degree of freedom actuated parallel joints and can perfectly simulate the bending and stretching of an animal’s torso during walking and *** overall spatial motion performance of the parallel mechanism is improved by optimizing the structural *** on this structure,the rhythmic motion of the parallel mechanism is obtained by supporting state *** neural control of the parallel mechanism is realized by constructing a neuromechanical network,which merges the rhythmic signals of the legs and generates the locomotion of the bionic parallel mechanism for different motion *** results show that the complete integrated system can be controlled in real time to achieve proper limb-torso *** coordination enables several different motions with effectiveness and good performance.

关键词： neural control behavior network rhythm motion pattern

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Recent advances in chemically defined and tunable hydrogel platforms for organoid culture

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Bio-Design and Manufacturing 2021年第3期4卷 641-674页

作者： Tarun Agarwal Nehar Celikkin Marco Costantini Tapas K.Maiti Pooyan Makvandi Department of Biotechnology Indian Institute of Technology KharagpurKharagpurWest Bengal 721302India Institute of Physical Chemistry-Polish Academy of Sciences WarsawPoland Centre for Micro-biorobotics Istituto Italiano di TecnologiaViale Rinaldo Piaggio 3456025 PontederaPisaItaly

Recent developments in organoid culture technologies have made it possible to closely recapitulate intrinsic characteristics of different tissues under in vitro *** organoids act as a translational bridge between the traditional 2D/3D cultures and the in vivo models for studying the tissue development processes,disease modeling,and drug *** and tissue-specific extracellular matrix have been shown to support organoid development,efficiently;however,their chemically undefined nature,non-tunable properties,and associated batch-to-batch variations often limit reproducibility of the assembly *** this regard,chemically defined platforms offer wider opportunities to optimize and recreate tissue-specific *** present review delineates the current research trends in this sphere,focusing on material perspective and the target tissues(e.g.,neural,liver,pancreatic,renal,and intestinal).The review winds up with a discussion on the current limitations and future perspective to provide a basis for future research.

关键词： Organoid 3D culture Biomaterials Chemically defined hydrogels Cell-instructive microenvironment

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