Near-Infrared Responsive Nanocomposite Hydrogel Dressing with Anti-Inflammation and Pro-Angiogenesis for Wound Healing.

Anti-inflammatory and angiogenesis are two important factors in wound healing. Wound dressings with anti-inflammation and vascularization are essential to address complex interventions, expensive treatments, and uncontrolled release mechanisms. Based on the above considerations, we designed a near-infrared (NIR)-responsive hydrogel dressing, which is composed of mPDA-DFO@LA nanoparticles (mPDA: dopamine hydrochloride nanoparticles, DFO: deferoxamine, LA: lauric acid), valsartan (abbreviated as Va), and dopamine-hyaluronic acid hydrogel. The hydrogel dressing demonstrated injectability, bioadhesive, and photothermal properties. The results indicated the obtained dressing by releasing Va can appropriately regulate macrophage phenotype transformation from M1 to M2, resulting in an anti-inflammatory environment. In addition, DFO encapsulated by LA can be sustainably released into the wound site by NIR irradiation, which further prevents excessive neovascularization. Notably, the results in vivo indicated the mPDA-DFO@LA/Va hydrogel dressing significantly enhanced wound recovery, achieving a healing rate of up to 96% after 11 days of treatment. Therefore, this NIR-responsive hydrogel dressing with anti-inflammation, vascularization, and on-demand programmed drug release will be a promising wound dressing for wound infection.

Whole-body kinematic and dynamic modeling for quadruped robot under different gaits and mechanism topologies.

Dynamic locomotion plays a crucial role for legged robots to fulfill tasks in unstructured environments. This paper proposes whole-body kinematic and dynamic modeling method s based on screw theory for a quadruped robot using different gaits and mechanism topologies. Unlike simplified models such as centroid or inverse pendulum models, the methods proposed here can handle 10-dimensional mass and inertia for each part. The only simplification is that foot contact models are treated as spherical joints. Models of three different mechanism topologies are formulated: (1) Standing phase: a system consisting of one end-effector, the body, and four limbs, the legs; (2) Walking phase: a system consisting of one or two lifting legs (depending on the chosen gait), two or three supporting legs; (3) Floating phase: a system in which all legs detach from the ground. Control strategies based on our models are also introduced, which includes walk and trot gait plans. In our control system, two additional types of information are provided: (1) contacting forces are given by force sensors installed under feet; (2) body poses are determined by an inertial measurement unit (IMU). Combined with the sensor data and calibrated mass, inertia, and friction, the joint torque can be estimated accurately in simulation and experiment. Our prototype, the "XiLing" robot, is built to verify the methods proposed in this paper, and the results show that the models can be solved quickly and leads to steady locomotions.