Bone morphogenetic protein-2 functions as a negative regulator in the differentiation of myoblasts, but not as an inducer for the formations of cartilage and bone in mouse embryonic tongue

<p>Abstract</p> <p>Background</p> <p>In vitro studies using the myogenic cell line C2C12 demonstrate that bone morphogenetic protein-2 (BMP-2) converts the developmental pathway of C2C12 from a myogenic cell lineage to an osteoblastic cell lineage. Further, in vivo studies using null mutation mice demonstrate that BMPs inhibit the specification of the developmental fate of myogenic progenitor cells. However, the roles of BMPs in the phases of differentiation and maturation in skeletal muscles have yet to be determined. The present study attempts to define the function of BMP-2 in the final stage of differentiation of mouse tongue myoblast.</p> <p>Results</p> <p>Recombinant BMP-2 inhibited the expressions of markers for the differentiation of skeletal muscle cells, such as myogenin, muscle creatine kinase (MCK), and fast myosin heavy chain (fMyHC), whereas BMP-2 siRNA stimulated such markers. Neither the recombinant BMP-2 nor BMP-2 siRNA altered the expressions of markers for the formation of cartilage and bone, such as osteocalcin, alkaline phosphatase (ALP), collagen II, and collagen X. Further, no formation of cartilage and bone was observed in the recombinant BMP-2-treated tongues based on Alizarin red and Alcian blue stainings. Neither recombinant BMP-2 nor BMP-2 siRNA affected the expression of inhibitor of DNA binding/differentiation 1 (Id1). The ratios of chondrogenic and osteogenic markers relative to glyceraldehyde-3-phosphate dehydrogenase (GAPDH, a house keeping gene) were approximately 1000-fold lower than those of myogenic markers in the cultured tongue.</p> <p>Conclusions</p> <p>BMP-2 functions as a negative regulator for the final differentiation of tongue myoblasts, but not as an inducer for the formation of cartilage and bone in cultured tongue, probably because the genes related to myogenesis are in an activation mode, while the genes related to chondrogenesis and osteogenesis are in a silencing mode.</p

LLM-Based Human-Robot Collaboration Framework for Manipulation Tasks

This paper presents a novel approach to enhance autonomous robotic manipulation using the Large Language Model (LLM) for logical inference, converting high-level language commands into sequences of executable motion functions. The proposed system combines the advantage of LLM with YOLO-based environmental perception to enable robots to autonomously make reasonable decisions and task planning based on the given commands. Additionally, to address the potential inaccuracies or illogical actions arising from LLM, a combination of teleoperation and Dynamic Movement Primitives (DMP) is employed for action correction. This integration aims to improve the practicality and generalizability of the LLM-based human-robot collaboration system.Comment: IEEE MHS 202

Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation

Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of tactile sensors makes them a perfect match for haptic feedback applications. In this paper, we propose a contact force estimation method using the vision-based tactile sensor DIGIT, and apply it to a position-force teleoperation architecture for force feedback. The force estimation is done by building a depth map for DIGIT gel surface deformation measurement and applying a regression algorithm on estimated depth data and ground truth force data to get the depth-force relationship. The experiment is performed by constructing a grasping force feedback system with a haptic device as a leader robot and a parallel robot gripper as a follower robot, where the DIGIT sensor is attached to the tip of the robot gripper to estimate the contact force. The preliminary results show the capability of using the low-cost vision-based sensor for force feedback applications.Comment: IEEE CBS 202

Optimal Limb Length Ratio of Quadruped Robot Minimising Joint Torque on Slopes

This paper aims to determine an optimal structure for a quadruped robot, which will allow the robot’s joint torque sum to be minimised. An animal’s characteristic limb length ratio is a vital part of its overall morphology and the one that enables it to travel easily through its environment. For the same reason, a robot’s structure needs to be suitably designed for locomotion in its working environment. Joint torques are necessary to maintain the posture of the robot and to accelerate joint angles during walking motion, hence, minimisation of joint torques reduces energy consumption. We performed a numerical simulation in which we analysed the joint torques for various limb lengths and slope angles in order to determine the optimal structure of a robot walking on a slope. Our investigation determines that the optimal Ratio of Rear Leg Length (RRL) can be derived by the use of a simulation designed to determine the physical structure of quadruped robot. Our analysis suggests that joint torque will increase as the slope angle becomes steeper if the rear legs of the robot are shorter than its forelegs, and that joint torque will decrease as the slope angle declines if the robot’s forelegs are shorter than its rear legs. Finally, experimental results validated our simulation analysis

Multi-Locomotion Robotic Systems: New Concepts of Bio-inspired Robotics

Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as hardware of Multi-Locomotion Robotic system. It is useful for students and researchers in the field of robotics in general, bio-inspired robots, multi-modal locomotion, legged walking, motion control, and humanoid robots. Furthermore, it is also of interest for lecturers and engineers in practice building systems cooperating with humans

Head-Mounted Display-Based Microscopic Imaging System with Customizable Field Size and Viewpoint

In recent years, the use of microinjections has increased in life science and biotechnology fields; specific examples include artificial insemination and gene manipulation. Microinjections are mainly performed based on visual information; thus, the operator needs high-level skill because of the narrowness of the visual field. Additionally, microinjections are performed as the operator views a microscopic image on a display; the position of the display requires the operator to maintain an awkward posture throughout the procedure. In this study, we developed a microscopic image display apparatus for microinjections based on a view-expansive microscope. The prototype of the view-expansive microscope has problems related to the variations in brightness and focal blur that accompany changes in the optical path length and amount of reflected light. Therefore, we propose the use of a variable-focus device to expand the visual field and thus circumvent the above-mentioned problems. We evaluated the observable area of the system using this variable-focus device. We confirmed that the observable area is 261.4 and 13.9 times larger than that of a normal microscope and conventional view-expansive microscopic system, respectively. Finally, observations of mouse embryos were carried out by using the developed system. We confirmed that the microscopic images can be displayed on a head-mounted display in real time with the desired point and field sizes

Optimization-Based Constrained Trajectory Generation for Robot-Assisted Stitching in Endonasal Surgery

The reduced workspace in endonasal endoscopic surgery (EES) hinders the execution of complex surgical tasks such as suturing. Typically, surgeons need to manipulate non-dexterous long surgical instruments with an endoscopic view that makes it difficult to estimate the distances and angles required for precise suturing motion. Recently, robot-assisted surgical systems have been used in laparoscopic surgery with promising results. Although robotic systems can provide enhanced dexterity, robot-assisted suturing is still highly challenging. In this paper, we propose a robot-assisted stitching method based on an online optimization-based trajectory generation for curved needle stitching and a constrained motion planning framework to ensure safe surgical instrument motion. The needle trajectory is generated online by using a sequential convex optimization algorithm subject to stitching kinematic constraints. The constrained motion planner is designed to reduce surrounding damages to the nasal cavity by setting a remote center of motion over the nostril. A dual concurrent inverse kinematics (IK) solver is proposed to achieve convergence of the solution and optimal time execution, in which two constrained IK methods are performed simultaneously; a task-priority based IK and a nonlinear optimization-based IK. We evaluate the performance of the proposed method in a stitching experiment with our surgical robotic system in a robot-assisted mode and an autonomous mode in comparison to the use of a conventional surgical tool. Our results demonstrate a noticeable improvement in the stitching success ratio in the robot-assisted mode and the shortest completion time for the autonomous mode. In addition, the force interaction with the tissue was highly reduced when using the robotic system