Miniaturized Circuitry for Capacitive Self-Sensing and Closed-Loop Control of Soft Electrostatic Transducers.

Soft robotics is a field of robotic system design characterized by materials and structures that exhibit large-scale deformation, high compliance, and rich multifunctionality. The incorporation of soft and deformable structures endows soft robotic systems with the compliance and resiliency that makes them well adapted for unstructured and dynamic environments. Although actuation mechanisms for soft robots vary widely, soft electrostatic transducers such as dielectric elastomer actuators (DEAs) and hydraulically amplified self-healing electrostatic (HASEL) actuators have demonstrated promise due to their muscle-like performance and capacitive self-sensing capabilities. Despite previous efforts to implement self-sensing in electrostatic transducers by overlaying sinusoidal low-voltage signals, these designs still require sensing high-voltage signals, requiring bulky components that prevent integration with miniature untethered soft robots. We present a circuit design that eliminates the need for any high-voltage sensing components, thereby facilitating the design of simple low cost circuits using off-the-shelf components. Using this circuit, we perform simultaneous sensing and actuation for a range of electrostatic transducers including circular DEAs and HASEL actuators and demonstrate accurate estimated displacements with errors <4%. We further develop this circuit into a compact and portable system that couples high voltage actuation, sensing, and computation as a prototype toward untethered multifunctional soft robotic systems. Finally, we demonstrate the capabilities of our self-sensing design through feedback control of a robotic arm powered by Peano-HASEL actuators.

A neuromechanical model exploring the role of the common inhibitor motor neuron in insect locomotion.

In this work, we analyze a simplified, dynamical, closed-loop, neuromechanical simulation of insect joint control. We are specifically interested in two elements: (1) how slow muscle fibers may serve as temporal integrators of sensory feedback and (2) the role of common inhibitory (CI) motor neurons in resetting this integration when the commanded position changes, particularly during steady-state walking. Despite the simplicity of the model, we show that slow muscle fibers increase the accuracy of limb positioning, even for motions much shorter than the relaxation time of the fiber; this increase in accuracy is due to the slow dynamics of the fibers; the CI motor neuron plays a critical role in accelerating muscle relaxation when the limb moves to a new position; as in the animal, this architecture enables the control of the stance phase speed, independent of swing phase amplitude or duration, by changing the gain of sensory feedback to the stance phase muscles. We discuss how this relates to other models, and how it could be applied to robotic control.

Light-triggered RNA release and induction of hMSC osteogenesis via photodegradable, dual-crosslinked hydrogels.

AIM: To engineer a photodegradable hydrogel system for actively controlled release of bioactive unmodified RNA at designated time points to induce hMSC osteogenesis. MATERIALS & METHODS: RNA/polyethylenimine complexes were loaded into dual-crosslinked photodegradable hydrogels to examine the capacity of UV light application to trigger their release. The ability of released RNA to drive hMSC osteogenic differentiation was also investigated. RESULTS & CONCLUSION: RNA release from photodegradable hydrogels was accelerated upon UV application, which was not observed in non-photodegradable hydrogels. Regardless of the presence of UV light, released siGFP exhibited high bioactivity by silencing GFP expression in HeLa cells. Importantly, siNoggin or miRNA-20a released from the hydrogels induced hMSC osteogenesis. This system provides a potentially valuable physician/patient-controlled 'on-demand' RNA delivery platform for biomedical applications.