Experimental Study on Double-Joint Soft Actuator and Its Dexterous Hand.

In this paper, we propose a pneumatic double-joint soft actuator based on fiber winding and build a dexterous hand with 11 degrees of freedom. Firstly, soft actuator structural design is carried out according to the actuator driving principle and gives the specific manufacturing process. Then, an experimental analysis of the bending performance of a single soft actuator, including bending angle, speed, and force magnitude, is carried out by building a pneumatic control experimental platform. Finally, a series of dexterous robotic hand-grasping experiments is conducted. Different grasping methods are used to catch the objects and measure the objects' change in height, length, and rotation angle during the experiment. The results show that the proposed soft actuator is more consistent with the bending rule of human fingers, and that the gestures of the dexterous hand are more imaginable and flexible when grasping objects. The soft actuator can carry out horizontal and vertical movements, and rotation of the object in the dexterous hand, thus achieving better human-computer interaction.

Complex Modal Characteristic Analysis of a Tensegrity Robotic Fish's Body Waves.

A bionic robotic fish based on compliant structure can excite the natural modes of vibration, thereby mimicking the body waves of real fish to generate thrust and realize undulate propulsion. The fish body wave is a result of the fish body's mechanical characteristics interacting with the surrounding fluid. Thoroughly analyzing the complex modal characteristics in such robotic fish contributes to a better understanding of the locomotion behavior, consequently enhancing the swimming performance. Therefore, the complex orthogonal decomposition (COD) method is used in this article. The traveling index is used to quantitatively describe the difference between the real and imaginary modes of the fish body wave. It is defined as the reciprocal of the condition number between the real and imaginary components. After introducing the BCF (body and/or caudal fin) the fish's body wave curves and the COD method, the structural design and parameter configuration of the tensegrity robotic fish are introduced. The complex modal characteristics of the tensegrity robotic fish and real fish are analyzed. The results show that their traveling indexes are close, with two similar complex mode shapes. Subsequently, the relationship between the traveling index and swimming performance is expressed using indicators reflecting linear correlation (correlation coefficient (Rc) and p value). Based on this correlation, a preliminary optimization strategy for the traveling index is proposed, with the potential to improve the swimming performance of the robotic fish.

Wearable Real-Time Gesture Recognition Scheme Based on A-Mode Ultrasound.

A-mode ultrasound has the advantages of high resolution, easy calculation and low cost in predicting dexterous gestures. In order to accelerate the popularization of A-mode ultrasound gesture recognition technology, we designed a human-machine interface that can interact with the user in real-time. Data processing includes Gaussian filtering, feature extraction and PCA dimensionality reduction. The NB, LDA and SVM algorithms were selected to train machine learning models. The whole process was written in C++ to classify gestures in real-time. This paper conducts offline and real-time experiments based on HMI-A (Human-machine interface based on A-mode ultrasound), including ten subjects and ten common gestures. To demonstrate the effectiveness of HMI-A and avoid accidental interference, the offline experiment collected ten rounds of gestures for each subject for ten-fold cross-validation. The results show that the offline recognition accuracy is 96.92% ± 1.92%. The real-time experiment was evaluated by four online performance metrics: action selection time, action completion time, action completion rate and real-time recognition accuracy. The results show that the action completion rate is 96.0% ± 3.6%, and the real-time recognition accuracy is 83.8% ± 6.9%. This study verifies the great potential of wearable A-mode ultrasound technology, and provides a wider range of application scenarios for gesture recognition.

Comparative transcriptomic analyses of glucosinolate metabolic genes during the formation of Chinese kale seeds.

BACKGROUND: To understand the mechanism of glucosinolates (GSs) accumulation in the specific organs, combined analysis of physiological change and transcriptome sequencing were applied in the current study. Taking Chinese kale as material, seeds and silique walls were divided into different stages based on the development of the embryo in seeds and then subjected to GS analysis and transcriptome sequencing. RESULTS: The main GS in seeds of Chinese kale were glucoiberin and gluconapin and their content changed with the development of the seed. During the transition of the embryo from torpedo- to the early cotyledonary-embryo stage, the accumulation of GS in the seed was accompanied by the salient decline of GS in the corresponding silique wall. Thus, the seed and corresponding silique wall at these two stages were subjected to transcriptomic sequencing analysis. 135 genes related to GS metabolism were identified, of which 24 genes were transcription factors, 81 genes were related to biosynthetic pathway, 25 genes encoded catabolic enzymes, and 5 genes matched with transporters. The expression of GS biosynthetic genes was detected both in seeds and silique walls. The high expression of FMOGS-OX and AOP2, which is related to the production of gluconapin by side modification, was noted in seeds at both stages. Interestingly, the expression of GS biosynthetic genes was higher in the silique wall compared with that in the seed albeit lower content of GS existed in the silique wall than in the seed. Combined with the higher expression of transporter genes GTRs in silique walls than in seeds, it was proposed that the transportation of GS from the silique wall to the seed is an important source for seed GS accumulation. In addition, genes related to GS degradation expressed abundantly in the seed at the early cotyledonary-embryo stage indicating its potential role in balancing seed GS content. CONCLUSIONS: Two stages including the torpedo-embryo and the early cotyledonary-embryo stage were identified as crucial in GS accumulation during seed development. Moreover, we confirmed the transportation of GS from the silique wall to the seed and proposed possible sidechain modification of GS biosynthesis may exist during seed formation.

Comparative transcriptome analyses revealed different heat stress responses in high- and low-GS Brassica alboglabra sprouts.

BACKGROUND: Chinese kale (Brassica alboglabra) contains high nutritional elements and functional molecules, especially anticarcinogenic and antioxidant glucosinolates (GS), which was highly affected by environment temperature. To investigate the link of GS biosynthesis with heat stress response in Chinese kale, global transcription profiles of high-GS line (HG), low-GS line (LG), high-GS line under heat stress (HGT) and low-GS line under heat stress (LGT) were analyzed. RESULTS: Based on three biological replicates of each RNA sequencing data, 3901, 4062 and 2396 differentially expressed genes in HG vs HGT, LG vs LGT and HGT vs LGT were obtained, respectively. GO annotation, KEGG pathway analysis and a comprehensive analysis of DEGs showed a strong correlation between the GS biosynthesis and heat stress response. It was noticed that 11 differentially expressed genes tied to the GS biosynthesis were down-regulated, 23 heat shock transcription factors and 61 heat shock proteins were up-regulated upon the heat treatment. Another two Chinese kale varieties Cuibao and Shunbao with high- and low- GS content respectively, were used to validate the relationship of GS content and heat-response, and the results showed that high-GS content variety were more thermotolerant than the low-GS content one although GS significantly decreased in both varieties under heat stress. In addition, HSP100/ClpB, HSP90, HSP70 and sHSPs were differentially expressed in high- and low-GS varieties. Notably, HSP90 and sHSPs showed an obviously early response to heat stress than other related genes. CONCLUSION: The higher heat resistance of high-GS Chinese kale and the sharp decrease of glucosinolate content under heat stress indicated a strong relationship of GS accumulation and heat stress response. Combined with the previous report on the low expression of HSP90 at elevated temperatures in GS-deficient mutant TU8 of Arabidopsis, the differential expression pattern of HSP90 in high- and low- GS varieties and its early heat response implied it might be a key regulator in GS metabolism and heat-resistance in Chinese kale.

Swimming Performance of a Tensegrity Robotic Fish.

We described a tensegrity robotic fish and detailed its overall structure, stiffness, and mechatronics. The main flexible structure of the robotic fish body was composed with a series of rigid segments linked with tensegrity joints by means of tension elements. Each rigid segment can rotate around tensegrity-compliant joint and have no direct contact with each other. The dominant vibrational mode of the tensegrity robotic fish can be excited by a single harmonic input to mimic the desired kinematics of locomotion. For our tensegrity robotic fish, the experimental results showed that its maximum stride length was about 0.5 body length per cycle; its Strouhal number was roughly between 0.45 and 0.55 near the biological data of carangiform swimmers. Two different vibrational modes that can be achieved would be demonstrated by the harmonic analysis technique. The results indicated that the swimming performance can be improved by using tensegrity joints.