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Development of Wheel-Legged Biped Robots:A Review

Journal of Bionic Engineering 2024年第2期21卷 607-634页

作者： Xuefei Liu Yi Sun Shikun Wen Kai Cao Qian Qi Xiaoshu Zhang Huan Shen Guangming Chen Jiajun Xu Aihong Ji lab of locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and Astronautics29 Yudao StreetNanjing210016China State Key laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

The wheel-legged biped robot is a typical ground-based mobile robot that can combine the high velocity and high efficiency pertaining to wheeled motion and the strong,obstacle-crossing performance associated with legged motion.These robots have gradually exhibited satisfactory application potential in various harsh scenarios such as rubble rescue,military operations,and wilderness exploration.Wheel-legged biped robots are divided into four categories according to the open–close chain structure forms and operation task modes,and the latest technology research status is summarized in this paper.The hardware control system,control method,and application are analyzed,and the dynamic balance control for the two-wheel,biomimetic jumping control for the legs and whole-body control for integrating the wheels and legs are analyzed.In summary,it is observed that the current research exhibits problems,such as the insufficient application of novel materials and a rigid–flexible coupling design;the limited application of the advanced,intelligent control methods;the inadequate understanding of the bionic jumping mechanisms in robot legs;and the insufficient coordination ability of the multi-modal motion,which do not exhibit practical application for the wheel-legged biped robots.Finally,this study discusses the key research directions and development trends for the wheel-legged biped robots.

关键词： Wheel-legged biped robot Wheeled motion Legged motion Control strategy

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Detachment Behavior of Gecko Toe in Functional Strategies for Bionic Toe

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Journal of Bionic Engineering 2024年第2期21卷 707-717页

作者： Qingfei Han Wei Wang Huan Shen Xincheng Feng Haoran Zhang Qian Li Yi Sun Huapeng Wu Aihong Ji lab of locomotion Bioinspiration and Intelligent Robots College of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing210016China laboratory of Intelligent Machines School of Energy SystemsLappeenranta-Lahti University of Technology53850LappeenrantaFinland State Key laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and AstronauticsNanjing210016China

Geckos can efficiently navigate complex terrains due to their multi-level adhesive system that is present on their toes.The setae are responsible for the gecko’s extraordinary adhesion and have garnered wide attention from the scientific community.The majority of the reported works in the literature that have dealt with the peeling models mainly focus on the gecko hierarchical adhesive system,with limited attention given to investigating the influence of gecko toe structure on the detachment.Along these lines,to gain a deeper understanding of the rapid and effortless detachment abilities of gecko toes,the peeling behavior of gecko toes on vertical surfaces was primarily investigated in this work.More specifically,the detachment time of a single toe on a smooth acrylic plate was measured to be 0.41±0.21 s.Moreover,it was observed that the toe assumed a"U"-shaped structure upon complete detachment.Additionally,Finite Element Analysis(FEA)models for three different types of gecko toes were developed to simulate both the displacement-peel and the moment-peel modes.Increasing the segmentation of the adhesive layer led to a gradual decrease in the resultant force,as well as the normal and tangential components.Lastly,a gecko-inspired toe model was constructed and powered by Shape Memory Alloy(SMA).A systematic comparison between the vertical drag separation and the outward flip separation was also conducted.From our analysis,it was clearly demonstrated that outward peel separation significantly necessitated the reduction of the peeling force,thus confirming the advantageous nature of the outward motion in gecko toe detachment.Our data not only contribute to a deeper understanding of the gecko detachment behavior but also offer valuable insights for the advancement of the wall-climbing robot feet.

关键词： Gecko toes Detachment behavior Finite element analysis Gecko-inspired toe

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Metabolic cost of level,uphill,and downhill running in highly cushioned shoes with carbon-fiber plates

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Journal of Sport and Health Science 2022年第3期11卷 303-308页

作者： Clarissa S.Whiting Wouter Hoogkamer Rodger Kram locomotion laboratory Department of Integrative PhysiologyUniversity of ColoradoBoulderCO 80309USA integrative locomotion lab Department of KinesiologyUniversity of MassachusettsAmherstMA 01003USA

Background:Compared to conventional racing shoes,Nike Vaporfly 4% running shoes reduce the metabolic cost of level treadmill running by4%.The reduction is attributed to their lightweight,highly compliant,and resilient midsole foam and a midsole-embedded curved carbon-fiber plate.We investigated whether these shoes also could reduce the metabolic cost of moderate uphill(+3°) and downhill(-3°) grades.We tested the null hypothesis that,compared to conventional racing shoes,highly cushioned shoes with carbon-fiber plates would impart the same ~4%metabolic power(W/kg) savings during uphill and downhill running as they do during level running.Methods:After familiarization,16 competitive male runners performed six 5-min trials(2 shoes × 3 grades) in 2 Nike marathon racing-shoe models(Streak 6 and Vaporfly 4%) on a level,uphill(+3°),and downhill(-3°) treadmill at 13 km/h(3.61 m/s).We measured submaximal oxygen uptake and carbon dioxide production during Minutes 4-5 and calculated metabolic power(W/kg) for each shoe model and grade combination.Results:Compared to the conventional shoes(Streak 6),the metabolic power in the Vaporfly 4% shoes was 3.83%(level),2.82%(uphill),and2.70%(downhill)less(all p <0.001).The percent of change in metabolic power for uphill running was less compared to level running(p=0.04;effect size(ES)=0.561) but was not statistically different between downhill and level running(p=0.17;ES=0.356).Conclusion:On a running course with uphill and downhill sections,the metabolic savings and hence performance enhancement provided by Vaporfly 4% shoes would likely be slightly less overall,compared to the savings on a perfectly level race course.

关键词： Energetics Incline locomotion Oxygen consumption Running economy

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Longitudinal bending stiffness does not affect running economy in Nike Vaporfly Shoes

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Journal of Sport and Health Science 2022年第3期11卷 285-292页

作者： Laura A.Healey Wouter Hoogkamer integrative locomotion laboratory Department of KinesiologyUniversity of MassachusettsAmherstMA 01003-9258USA

Purpose This study aimed to determine the independent effect of the curved carbon-fiber plate in the Nike Vaporfly 4%shoe on running economy and running biomechanics.Methods Fifteen healthy male runners completed a metabolic protocol and a biomechanics protocol.In both protocols participants wore 2 different shoes,an intact Nike Vaporfly 4%(VF_(intact))and a cut Nike Vaporfly 4%(VF_(cut)).The VF_(cut) had 6 medio-lateral cuts through the carbon-fiber plate in the forefoot to reduce the effectiveness of the plate.In the metabolic protocol,participants ran at 14 km/h for 5 min,twice with each shoe,on a force-measuring treadmill while we measured metabolic rate.In the biomechanics protocol,participants ran across a runway with embedded force plates at 14 km/h.We calculated running economy,kinetics,and lower limb joint mechanics.Results Running economy did not significantly differ between shoe conditions(on average,0.55%±1.77%(mean±SD))worse in the VF_(cut) compared to the VF_(intact);95%confidence interval(-1.44%to 0.40%).Biomechanical differences were only found in the metatarsophalangeal(MTP)joint with increased MTP dorsiflexion angle,angular velocity,and negative power in the VF_(cut).Contact time was 1%longer in the VF_(intact).Conclusion Cutting the carbon-fiber plate and reducing the longitudinal bending stiffness did not have a significant effect on the energy savings in the Nike Vaporfly 4%.This suggests that the plate's stiffening effect on the MTP joint plays a limited role in the reported energy savings,and instead savings are likely from a combination and interaction of the foam,geometry,and plate.

关键词： Biomechanics Footwear Mechanical doping Metabolic rate Performance

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Enhancing single-cell encapsulation in droplet microfluidics with fine-tunable on-chip sample enrichment

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Microsystems & Nanoengineering 2024年第1期10卷 149-160页

作者： Tao Tang Hao Zhao Shaofei Shen Like Yang Chwee Teck Lim Department of Biomedical Engineering National University of Singapore117583 SingaporeSingapore integrative Sciences and Engineering Programme NUS Graduate SchoolNational University of Singapore119077 SingaporeSingapore Shanxi Key lab for Modernization of TCVM College of Life ScienceShanxi Agricultural UniversityTaiguShanxi 030801China Institute for Health Innovation&Technology National University of Singapore117599 SingaporeSingapore Mechanobiology Institute National University of Singapore117411 SingaporeSingapore Institute for Digital Molecular Analytics and Science Nanyang Technological University636921 SingaporeSingapore

Single-cell encapsulation in droplet microfluidics is commonly hindered by the tradeoff between cell suspension density and on-chip focusing performance.In this study,we introduce a novel droplet microfluidic chip to overcome this challenge.The chip comprises a double spiral focusing unit,a flow resistance-based sample enrichment module with fine-tunable outlets,and a crossflow droplet generation unit.Utilizing a low-density cell/bead suspension(2×10^(6) objects/mL),cells/beads are focused into a near-equidistant linear arrangement within the double spiral microchannel.The excess water phase is diverted while cells/beads remain focused and sequentially encapsulated in individual droplets.Focusing performance was assessed through numerical simulations and experiments at three flow rates(40,60,80μL/min),demonstrating successful focusing at 40 and 80μL/min for beads and cells,respectively.In addition,both simulation and experimental results revealed that the flow resistance at the sample enrichment module is adjustable by punching different outlets,allowing over 50%of the aqueous phase to be removed.YOLOv8n-based droplet detection algorithms realized the counting of cells/beads in droplets,statistically demonstrating single-cell and bead encapsulation rates of 72.2%and 79.2%,respectively.All the results indicate that this on-chip sample enrichment approach can be further developed and employed as a critical component in single-cell encapsulation in water-in-oil droplets.

关键词： beads outlet sample

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Fu-Zheng-Yi-Liu Formula inhibits the stem cells and metastasis of prostate cancer via tumor-associated macrophages/C-C motif chemokine ligand 5 pathway in tumor microenvironment

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Chinese Journal of Natural Medicines 2024年第6期22卷 501-514页

作者： CHEN Chiwei HUANG Renlun WANG Neng ZHENG Yifeng ZHOU Jianfu YANG Bowen WANG Xuan ZHANG Juping PAN Bo CHEN Zhiqiang WANG Shengqi WANG Zhiyu XIANG Songtao The Research Center of integrative Cancer Medicine Discipline of Integrated Chinese and Western Medicinethe Second Clinical College of Guangzhou University of Chinese MedicineGuangzhou 510000China The First Clinical College of Guangzhou University of Chinese Medicine Guangzhou 510000China Guangdong Provincial Key laboratory of Clinical Research on Traditional Chinese Medicine Syndrome Guangdong Provincial Academy of Chinese Medical SciencesGuangdong Provincial Hospital of Chinese MedicineGuangzhou 510000China Guangdong-Hong Kong-Macao Joint lab on Chinese Medicine and Immune Disease Research Guangzhou University of Chinese MedicineGuangzhou 510000China The Research Center for integrative Medicine School of Basic Medical SciencesGuangzhou University of Chinese MedicineGuangzhou 510000China State Key laboratory of Dampness Syndrome of Chinese Medicine The Second Affiliated Hospital of Guangzhou University of Chinese MedicineGuangzhou 510000China

Prostate cancer(PCa)is the second most common malignancy among men globally.The Fu-Zheng-Yi-Liu(FZYL)Formula has been widely utilized in the treatment of PCa.This study investigates whether the FZYL Formula can inhibit PCa by tar-geting the TAMs/CCL5 pathway.We conducted in vitro co-cultures and in vivo co-injections of PCa cells and TAMs to mimic their in-teraction.Results showed that the FZYL Formula significantly reduced the proliferation,colony formation,subpopulations of PCSCs,and sphere-formation efficacy of PCa cells,even in the presence of TAM co-culture.Additionally,the Formula markedly decreased the migration,invasion,and epithelial-mesenchymal transition(EMT)of PCa cells induced by TAMs.The FZYL Formula also reversed M2 phenotype polarization in TAMs and dose-dependently reduced their CCL5 expression and secretion,with minimal cytotoxicity observed.Mechanistic studies confirmed that the TAMs/CCL5 axis is a critical target of the FZYL Formula,as the addition of exogen-ous CCL5 partially reversed the formula’s inhibitory effects on PCSCs self-renewal in the co-culture system.Importantly,the Formula also significantly inhibited the growth of PCa xenografts,bone metastasis,and PCSCs activity in vivo by targeting the TAMs/CCL5 pathway.Overall,this study not only elucidates the immunomodulatory mechanism of the FZYL Formula in PCa therapy but also highlights the TAMs/CCL5 axis as a promising therapeutic target.

关键词： Traditional Chinese medicine Tumor-associated macrophages Prostate cancer stem cells CCL5 Tumor microenvironment

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Precise nano-system-based drug delivery and synergistic therapy against androgen receptor-positive triple-negative breast cancer

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Acta Pharmaceutica Sinica B 2024年第6期14卷 2685-2697页

作者： Fangyan Gao Yueyao Wu Runtian Wang Yuhui Yao Yiqiu Liu Lingling Fan Jingtong Xu Jian Zhang Xin Han Xiaoxiang Guan Department of Oncology the First Affiliated Hospital of Nanjing Medical UniversityNanjing 210029China Jiangsu Collaborative Innovation Center of Chinese Medicinal Resources Industrialization School of Medicine&Holistic Integrative MedicineNanjing University of Chinese MedicineNanjing 210023China Department of Oncology the Second Hospital of NanjingNanjing University of Chinese MedicineNanjing 210023China Department of Medical Oncology Fudan University Shanghai Cancer CenterShanghai 200032China Jiangsu Key lab of Cancer Biomarkers Prevention and TreatmentCollaborative Innovation Center for Cancer Personalized MedicineNanjing Medical UniversityNanjing 211166China

Targeting androgen receptor(AR)has shown great therapeutic potential in triple-negative breast cancer(TNBC),yet its efficacy remains unsatisfactory.Here,we aimed to identify promising targeted agents that synergize with enzalutamide,a second-generation AR inhibitor,in TNBC.By using a strategy for screening drug combinations based on the Sensitivity Index(SI),we found that MK-8776,a selective checkpoint kinase1(CHK1)inhibitor,showed favorable synergism with enzalutamide in AR-positive TNBC.The combination of enzalutamide and MK-8776 was found to exert more significant anti-tumor effects in TNBC than the single application of enzalutamide or MK-8776,respectively.Furthermore,a nanoparticle-based on hyaluronic acid(HA)-modified hollow-manganese dioxide(HMnO_(2)),named HMnE&M@H,was established to encapsulate and deliver enzalutamide and MK-8776.This HA-modified nanosystem managed targeted activation via pH/glutathione responsiveness.HMnE&M@H repressed tumor growth more obviously than the simple addition of enzalutamide and MK-8776 without a carrier.Collectively,our study elucidated the synergy of enzalutamide and MK-8776 in TNBC and developed a novel tumor-targeted nano drug delivery system HMnE&M@H,providing a potential therapeutic approach for the treatment of TNBC.

关键词： Triple-negative breast cancer Androgen receptor Checkpoint kinase 1 Enzalutamide MK-8776 Synergy HMnO_(2) Nanodrug delivery system

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Genomic characterization of peritoneal lavage cytology-positive gastric cancer

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Chinese Journal of Cancer Research 2024年第1期36卷 66-77页

作者： Zhouqiao Wu Tingfei Gu Changxian Xiong Jinyao Shi Jingpu Wang Ting Guo Xiaofang Xing Fei Pang Ning He Rulin Miao Fei Shan Yuan Zhou Ziyu Li Jiafu Ji Key laboratory of Carcinogenesis and Translational Research(Ministry of Education/Beijing) Gastrointestinal Cancer CenterPeking University Cancer Hospital&InstituteBeijing 100142China Department of Biomedical Informatics Department of Physiology and PathophysiologyCenter for Noncoding RNA MedicineMOE Key Lab of Cardiovascular SciencesSchool of Basic Medical SciencesPeking UniversityBeijing 100191China State Key laboratory of Holistic integrative Management of Gastrointestinal Cancers Beijing Key Laboratory of Carcinogenesis and Translational ResearchGastrointestinal Cancer CenterPeking University Cancer Hospital&InstituteBeijing 100142China

Objective: Positive peritoneal lavege cytology(CY1) gastric cancer is featured by dismal prognosis, with high risks of peritoneal metastasis. However, there is a lack of evidence on pathogenic mechanism and signature of CY1and there is a continuous debate on CY1 therapy. Therefore, exploring the mechanism of CY1 is crucial for treatment strategies and targets for CY1 gastric cancer.Methods: In order to figure out specific driver genes and marker genes of CY1 gastric cancer, and ultimately offer clues for potential marker and risk assessment of CY1, 17 cytology-positive gastric cancer patients and 31matched cytology-negative gastric cancer patients were enrolled in this study. The enrollment criteria were based on the results of diagnostic laparoscopy staging and cytology inspection of exfoliated cells. Whole exome sequencing was then performed on tumor samples to evaluate genomic characterization of cytology-positive gastric cancer.Results: Least absolute shrinkage and selection operator(LASSO) algorithm identified 43 cytology-positive marker genes, while Mut Sig CV identified 42 cytology-positive specific driver genes. CD3G and CDKL2 were both driver and marker genes of CY1. Regarding mutational signatures, driver gene mutation and tumor subclone architecture, no significant differences were observed between CY1 and negative peritoneal lavege cytology(CY0).Conclusions: There might not be distinct differences between CY1 and CY0, and CY1 might represent the progression of CY0 gastric cancer rather than constituting an independent subtype. This genomic analysis will thus provide key molecular insights into CY1, which may have a direct effect on treatment recommendations for CY1and CY0 patients, and provides opportunities for genome-guided clinical trials and drug development.

关键词： Cytology gastric carcinoma peritoneal metastasis whole exome sequencing

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Identifying behavioral determinants and stage of readiness for performing knee massage among individuals with knee osteoarthritis:An observational study

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Journal of integrative Medicine 2024年第1期22卷 54-63页

作者： Donya Nemati Niki Munk Navin Kaushal College of Nursing the Ohio State UniversityColumbusOH 43210USA Department of Health Sciences School of Health&Human SciencesIndiana UniversityIndianapolisIN 46202USA National Centre for Naturopathic Medicine Southern Cross UniversityLismoreNew South Wales 2480Australia Australian Research Centre in Complementary and integrative Medicine(ARCCIM) Massage&Myotherapy Australia Fellow and Visiting Faculty of HealthUniversity of Technology SydneyNew South Wales 2007Australia

Objective Patients who experience knee osteoarthritis or chronic knee pain can alleviate their symptoms by performing self-knee massage.Understanding the readiness and types of determinants needed to facilitate self-knee massage is needed to design effective,theory-informed interventions.The primary objective of this study was to apply the transtheoretical model of behavior change to identify how factors,which include the type of knee condition and pain level,predict an individual’s readiness to adopt self-knee massage.The secondary objective employed the capability,opportunity and motivation-behavior(COM-B)model to identify relevant determinants that are predictive of an individual’s readiness to undertake self-knee massage.Methods An observational study design was used to recruit individuals with knee osteoarthritis(n=270)and chronic knee pain(n=130).Participants completed an online survey that assessed the transtheoretical model of behavior change stages,COM-B determinants(capability,opportunity and motivation),along with self-administered massage behavior.Multivariate analysis of covariance and structural equation modeling were used to test the primary and secondary objective,respectively.Results Participants who had knee osteoarthritis scored higher on the action stage compared to those with chronic pain(P=0.003),and those who experienced greater level of pain scored higher in the contemplation(P<0.001)and action phases(P<0.001)of performing knee massage compared to those with milder pain.The COM-B structural equation model revealed self-administered knee massage to be predicted by capability(β=0.31,P=0.004)and motivation(β=0.29,P<0.001),but not opportunity(β=–0.10,P=0.39).Pain level predicted motivation(β=0.27,P<0.001),but not capability(β=0.09,P=0.07)or opportunity(β=0.01,P=0.83).Tests for mediating effects found that determinants of COM-B(motivation and capability)mediate between pain level and self-administered massage behavior(β=0.10,P=0.002).Conclusion Clinicians and researchers can expect that patient

关键词： Osteoarthritis Massage Self-management Transtheoretical model of behavior change Behavioral model

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Gene-knockout by iSTOP enables rapid reproductive disease modeling and phenotyping in germ cells of the founder generation

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Science China(Life Sciences) 2024年第5期67卷 1035-1050页

作者： Yaling Wang Jingwen Chen Xueying Huang Bangguo Wu Peng Dai Feng Zhang Jinsong Li Lingbo Wang State Key laboratory of Genetic Engineering Shanghai Key Laboratory of Metabolic Remodeling and HealthInstitute of Metabolism and Integrative BiologyFudan UniversityShanghai 200438China Institute of Reproduction and Development Obstetrics and Gynecology HospitalFudan UniversityShanghai 200011China NHC Key lab of Reproduction Regulation(Shanghai Institute for Biomedical and Pharmaceutical Technologies) School of PharmacyFudan UniversityShanghai 200433China Shanghai Key laboratoryof Maternal and Fetal Medicine Clinical and Translational Research Center of Shanghai First Maternity and Infant HospitalFrontier Science Center for Stem Cell ResearchSchoolof Life Sciences and TechnologyTongji UniversityShanghai 200092China State Key laboratory of Cell Biology CAS Center for Excellence in Molecular Cell ScienceShanghai Institute of Biochemistry and Cell BiologyChinese Academy of SciencesShanghai 200031China

Cytosine base editing achieves C·G-to-T·A substitutions and can convert four codons(CAA/CAG/CGA/TGG)into STOP-codons(induction of STOP-codons,iSTOP)to knock out genes with reduced mosaicism.iSTOP enables direct phenotyping in founders’somatic cells,but it remains unknown whether this works in founders’germ cells so as to rapidly reveal novel genes for fertility.Here,we initially establish that iSTOP in mouse zygotes enables functional characterization of known genes in founders’germ cells:Cfap43-iSTOP male founders manifest expected sperm features resembling human“multiple morphological abnormalities of the flagella”syndrome(i.e.,MMAF-like features),while oocytes of Zp3-iSTOP female founders have no zona pellucida.We further illustrate iSTOP’s utility for dissecting the functions of unknown genes with Ccdc183,observing MMAF-like features and male infertility in Ccdc183-iSTOP founders,phenotypes concordant with those of Ccdc183-KO offspring.We ultimately establish that CCDC183 is essential for sperm morphogenesis through regulating the assembly of outer dynein arms and participating in the intra-flagellar transport.Our study demonstrates iSTOP as an efficient tool for direct reproductive disease modeling and phenotyping in germ cells of the founder generation,and rapidly reveals the essentiality of Ccdc183 in fertility,thus providing a time-saving approach for validating genetic defects(like nonsense mutations)for human infertility.

关键词： disease modeling infertility multiple morphological abnormalities of the flagella(MMAF) induction of STOP-codons(iSTOP CRISPR-STOP) sperm motility

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