Chip-on-tip endoscope incorporating a soft robotic pneumatic bending microactuator.

In the ever advancing field of minimally invasive surgery, flexible instruments with local degrees of freedom are needed to navigate through the intricate topologies of the human body. Although cable or concentric tube driven solutions have proven their merits in this field, they are inadequate for realizing small bending radii and suffer from friction, which is detrimental when automation is envisioned. Soft robotic actuators with locally actuated degrees of freedom are foreseen to fill in this void, where elastic inflatable actuators are very promising due to their S3-principle, being Small, Soft and Safe. This paper reports on the characterization of a chip-on-tip endoscope, consisting out of a soft robotic pneumatic bending microactuator equipped with a 1.1 × 1.1 mm2 CMOS camera. As such, the total diameter of the endoscope measures 1.66 mm. To show the feasibility of using this system in a surgical environment, a preliminary test on an eye mock-up is conducted

Morphological Control of Cilia-Inspired Asymmetric Movements Using Nonlinear Soft Inflatable Actuators.

Soft robotic systems typically follow conventional control schemes, where actuators are supplied with dedicated inputs that are regulated through software. However, in recent years an alternative trend is being explored, where the control architecture can be simplified by harnessing the passive mechanical characteristics of the soft robotic system. This approach is named "morphological control", and it can be used to decrease the number of components (tubing, valves and regulators) required by the controller. In this paper, we demonstrate morphological control of bio-inspired asymmetric motions for systems of soft bending actuators that are interconnected with passive flow restrictors. We introduce bending actuators consisting out of a cylindrical latex balloon in a flexible PVC shell. By tuning the radii of the tube and the shell, we obtain a nonlinear relation between internal pressure and volume in the actuator with a peak and valley in pressure. Because of the nonlinear characteristics of the actuators, they can be assembled in a system with a single pressure input where they bend in a discrete, preprogrammed sequence. We design and analyze two such systems inspired by the asymmetric movements of biological cilia. The first replicates the swept area of individual cilia, having a different forward and backward stroke, and the second generates a travelling wave across an array of cilia

Towards enduring autonomous robots via embodied energy.

Autonomous robots comprise actuation, energy, sensory and control systems built from materials and structures that are not necessarily designed and integrated for multifunctionality. Yet, animals and other organisms that robots strive to emulate contain highly sophisticated and interconnected systems at all organizational levels, which allow multiple functions to be performed simultaneously. Herein, we examine how system integration and multifunctionality in nature inspires a new paradigm for autonomous robots that we call Embodied Energy. Whereas most untethered robots use batteries to store energy and power their operation, recent advancements in energy-storage techniques enable chemical or electrical energy sources to be embodied directly within the structures and materials used to create robots, rather than requiring separate battery packs. This perspective highlights emerging examples of Embodied Energy in the context of developing autonomous robots

Protein type, protein dose, and age modulate dietary protein digestion and phenylalanine absorption kinetics and plasma phenylalanine availability in humans

This is the final version. Available from the publisher via the DOI in this record.BACKGROUND: Dietary protein ingestion stimulates muscle protein synthesis by providing amino acids to the muscle. The magnitude and duration of the postprandial increase in muscle protein synthesis rates are largely determined by dietary protein digestion and amino acid absorption kinetics. OBJECTIVE: We assessed the impact of protein type, protein dose, and age on dietary protein digestion and amino acid absorption kinetics in vivo in humans. METHODS: We included data from 18 randomized controlled trials with a total of 602 participants [age: 53 ± 23 y; BMI (kg/m2): 24.8 ± 3.3] who consumed various quantities of intrinsically l-[1-13C]-phenylalanine-labeled whey (n = 137), casein (n = 393), or milk (n = 72) protein and received intravenous infusions of l-[ring-2H5]-phenylalanine, which allowed us to assess protein digestion and phenylalanine absorption kinetics and the postprandial release of dietary protein-derived phenylalanine into the circulation. The effect of aging on these processes was assessed in a subset of 82 young (aged 22 ± 3 y) and 83 older (aged 71 ± 5 y) individuals. RESULTS: A total of 50% ± 14% of dietary protein-derived phenylalanine appeared in the circulation over a 5-h postprandial period. Casein ingestion resulted in a smaller (45% ± 11%), whey protein ingestion in an intermediate (57% ± 10%), and milk protein ingestion in a greater (65% ± 13%) fraction of dietary protein-derived phenylalanine appearing in the circulation (P < 0.001). The postprandial availability of dietary protein-derived phenylalanine in the circulation increased with the ingestion of greater protein doses (P < 0.05). Protein digestion and phenylalanine absorption kinetics were attenuated in older when compared with young individuals, with 45% ± 10% vs. 51% ± 14% of dietary protein-derived phenylalanine appearing in the circulation, respectively (P = 0.001). CONCLUSIONS: Protein type, protein dose, and age modulate dietary protein digestion and amino acid absorption kinetics and subsequent postprandial plasma amino acid availability in vivo in humans. These trials were registered at clinicaltrials.gov as NCT00557388, NCT00936039, NCT00991523, NCT01317511, NCT01473576, NCT01576848, NCT01578590, NCT01615276, NCT01680146, NCT01820975, NCT01986842, and NCT02596542, and at http://www.trialregister.nl as NTR3638, NTR3885, NTR4060, NTR4429, and NTR4492

Elastic Inflatable Actuators for Soft Robotic Applications

The 20th century’s robotic systems have been made out of stiff materials and much of the developments in the field have pursued ever more accurate and dynamic robots which thrive in industrial automation settings and will probably continue to do so for many decades to come. However, the 21st century’s robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfil the role of robotic link and robotic actuator, where prime focus is on design and fabrication of the robotic hardware instead of software control to achieve a desired operation. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators to generate movement. This paper reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained substantial traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies including soft-lithography and additive manufacturing, and on the other hand by a market pull from the applications listed above. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication and applications.This research is supported by the Fund for Scientific Research-Flanders (FWO), and the European Research Council (ERC starting grant HIENA)

Probiotic Bacteria Produce Conjugated Linoleic Acid Locally in the Gut That Targets Macrophage PPAR γ to Suppress Colitis

Inflammatory bowel disease (IBD) therapies are modestly successful and associated with significant side effects. Thus, the investigation of novel approaches to prevent colitis is important. Probiotic bacteria can produce immunoregulatory metabolites in vitro such as conjugated linoleic acid (CLA), a polyunsaturated fatty acid with potent anti-inflammatory effects. This study aimed to investigate the cellular and molecular mechanisms underlying the anti-inflammatory efficacy of probiotic bacteria using a mouse model of colitis. The immune modulatory mechanisms of VSL#3 probiotic bacteria and CLA were investigated in a mouse model of DSS colitis. Colonic specimens were collected for histopathology, gene expression and flow cytometry analyses. Immune cell subsets in the mesenteric lymph nodes (MLN), spleen, blood and colonic lamina propria cells were phenotypically and functionally characterized. Fecal samples and colonic contents were collected to determine the effect of VSL#3 and CLA on gut microbial diversity and CLA production. CLA and VSL#3 treatment ameliorated colitis and decreased colonic bacterial diversity, a finding that correlated with decreased gut pathology. Colonic CLA concentrations were increased in response to probiotic bacterial treatment, but without systemic distribution in blood. VSL#3 and CLA decreased macrophage accumulation in the MLN of mice with DSS colitis. The loss of PPAR γ in myeloid cells abrogated the protective effect of probiotic bacteria and CLA in mice with DSS colitis. Probiotic bacteria modulate gut microbial diversity and favor local production of CLA in the colon that targets myeloid cell PPAR γ to suppress colitis

Value-based decision environment: vision and application

The ever-increasing complexity and environmental constraints associated with aerospace and defense projects are putting pressure on traditional organizational structures for design decision making. No longer can the design problem be assimilated and steered by a single chief engineer. Rather, to find consensus, design involves a complex iterative process between the different specialist committees (weights, aerodynamics, structures, cost, etc.). Furthermore, there is a growing need to take into account the life-cycle implications of low-level design decisions in addition to their more direct implications on performance. The Decision Environment for Complex Designs project at the University of Southampton aims to explore how the design process may be streamlined under these circumstances. The case study presented here centers around a maritime surveillance unmanned aerial vehicle for search and rescue tasks, developed in association with the U.K. Coastguard. The focus is on “value-driven” design and how advances in software engineering, rationale capture, operational simulation, and rapid prototyping can be leveraged to create an integrated design suite that allows the rapid design and manufacture of low-cost civilian unmanned aerial vehicles

Chip-on-tip endoscope incorporating a soft robotic pneumatic bending microactuator

In the ever advancing field of minimally invasive surgery, flexible instruments with local degrees of freedom are needed to navigate through the intricate topologies of the human body. Although cable or concentric tube driven solutions have proven their merits in this field, they are inadequate for realizing small bending radii and suffer from friction, which is detrimental when automation is envisioned. Soft robotic actuators with locally actuated degrees of freedom are foreseen to fill in this void, where elastic inflatable actuators are very promising due to their S3-principle, being Small, Soft and Safe. This paper reports on the characterization of a chip-on-tip endoscope, consisting out of a soft robotic pneumatic bending microactuator equipped with a 1.1 × 1.1 mm2 CMOS camera. As such, the total diameter of the endoscope measures 1.66 mm. To show the feasibility of using this system in a surgical environment, a preliminary test on an eye mock-up is conducted.status: publishe