Large Hong Kong City passive remote-aware multi-legged robots, will open up new applications in biomedical detection

Micro software robot has broad application prospects in vivo / in vitro biomedical research. In recent years, research-driven and flexible robot movement has made a lot of achievements, but there are still big challenges in terms of environmental awareness, remote signal transmission, as well as from the actual application is not a small distance. City University of Hong Kong (CityU Hong Kong) led the research team based on previous research and development of multi-legged robot software (Nat.Com 2018,9 (1):. 1-7) and micro energy harvesting technology (Joule 2018, 2 (4): 642-697), integrated in the micro robot driving, sensing, signal transmission means by a magnetic coupling effect and piezoelectric effect, developed an stopper without moving remote control, remote sensing and communications surroundings as one of the Department of miniature robot software.

related to the outcome of the Hong Kong City of Shenya Beijing research group with Yang Zheng Bao Task Force to \”based coupling magnetic effect and the piezoelectric effect remote control movement, perception and communication of millimeter-level software robot\” (Battery-Less Soft Millirobot That Can Move , Sense, and Communicate Remotely by Couplingthe Magnetic and Piezoelectric Effects) for the title, was recently published in the journal comprehensive \”cutting-edge science\” (Adv Sci.2020, DOI:. 10.1002 / advs.202000069) on.
The micro-robot driving unit and the robot unit are integrated in a sensing multilayer film (<0.5 mm)内,下部的仿生多足磁性复合材料肢体可提供驱动力,而柔性压电陶瓷复合薄膜可提供感知功能。论文的共同第一作者,香港城大生物医学工程学系博士后陆豪健说:“现阶段对于微型软体机器人来说,感知能力与运动性能的完美集成是一个挑战。这项工作借鉴了此前工作多足结构的设计以保证其运动性能,同时利用射频识别技术(RFID),将三个重要模块,即上层的近场通信(NFC)电子模块,中间的压电感知(PEG)模块和底部的多足软体驱动(MSR)模块(如图1所示)集成在总体尺寸小于10×30 mm2的机器人上,其大小仅与指尖相当。在外部的磁驱动下,该微型软体机器人可实现远程驱动、环境监控和无线通信,而无需任何负载电池或外部有线电源。” 
Figure 1 three modules consisting of non-tethered micro robot software [123 ]
previously, the city University of Hong Kong (CityU Hong Kong) led the research team developed a movable in dry and wet environment multi-legged bionic software robot which can be controlled by the magnetic field, or with a beat the way right and left swinging motion mode, and may be supported over the movement of the object times its own weight, have important applications
the research and development of robots in the biomedical field, on this basis integrates three major modules, each share signal transmission, sensor identificationAnd motion driven tasks. Which can make use of NFC wireless communication module can obtain a wireless signal and transmits the data to the NFC support any consumer devices, such as smart phones and computers. PEG module two silver electrode and the substrate (PI film and a PDMS membrane) made of a piezoelectric ceramic composite material (lead zirconate titanate PZT and polydimethylsiloxane PDMS), which is a piezoelectric signal generated can be used to perception of the external environment. MSR module consists of PDMS composite material and magnetic particles, below the multi-legged unique design reduces the surface contact area of ​​the software robot.
香港城大的无源远程感知多足机器人,将开拓生物医学检测新应用 FIG. 3 PEG piezoelectric modules at different pressures and bent state response
In addition to integration of multiple functions, for the design of a piezoelectric sensing module (PEG) is also important. Co-first author of the paper, Mechanical Engineering Department of the big city in the Hong Kong PhD students Hongying said: different \”from traditional piezoelectric ceramic powder and polymer materials made of direct mixing piezoelectric ceramic / polymer composites is , this paper we template based foam composite piezoelectric material having a continuous 3D ceramic framework, which allowed preparation having better mechanical characteristics and piezoelectric characteristics (see Figure 3). compared with conventional methods, species seamlessly integrated whole software configuration, good full advantage of the software robot. \”
香港城大的无源远程感知多足机器人,将开拓生物医学检测新应用 FIG 4 PEG modules are in a compressed and cycle characteristics bent state
Hongying added: \”in addition, the piezoelectric ceramic composite material also has good fatigue resistance, can maintain a good piezoelectric response of thousands of times in compression, and ten thousand bending cycles (Figure 4 shown), to ensure that the exercise capacity of the robot. \”
香港城大的无源远程感知多足机器人,将开拓生物医学检测新应用 the piezoelectric micro software robot motion signal in FIG. 5 and the resulting

in the experiment, by controlling the external magnetic field, the micro robot can move forward in a software manner beat, PEG itself may generate a corresponding module of the piezoelectric signal (shown in FIG. 5). It is worth noting, a piezoelectric signal generated by the robot motion will vary with the contact interface occurs, for example, rigid planar interface may be mutated signal peaks, the rigid peak reduction step results in a signal interface, the interface can be a flexible step very smooth ofSignal waves, the influence of the surface tension of the liquid interface will produce a bimodal signal. \”During the movement, the needle foot of the robot, as numerous as AFM probe continuously scans the surrounding environment (Figure 6), we expect to be able to later review of such techniques for different regions of the body such as whether lesions occur. \”Dr. Lu Hao Jian said.

香港城大的无源远程感知多足机器人,将开拓生物医学检测新应用 When the piezoelectric different software interface of Figure 6 micro robot response
Yang Yuanyuan added: \”In addition to having its own perception of the probe, this micro robot software also carries around the sensor to detect different types of environments. For example, when the temperature sensor is an electric signal which carries software micro robot through different regions of the infrared radiation, which is generated by the temperature change is transmitted to the NFC wireless computer terminal (e.g. . Fig. 7). \”
香港城大的无源远程感知多足机器人,将开拓生物医学检测新应用 FIG. 7 microcomputer software robot by the temperature at a region different from the infrared light in response to
signs Dr. Paul Dr. Yang Huo Shenya Beijing concluded:\” the sentient no tether micro robot software has a lot of advantages, such as whole software structure, to achieve long life at the same time, excellent mechanical strength and reliability, movement, sensing, and wireless communications, as well as highly sensitive and heat sensing interface induction seamless integration of this concept to a set of wireless sensor driven without a tether emerging micro robot software provides a common solution for manipulating it in areas such as wireless medical monitoring, and sensing and therapy in vivo has a very wide range of applications. \”
香港城大的无源远程感知多足机器人,将开拓生物医学检测新应用 Figure 8 mini motion software robot in a real cow stomach environment
the work by the city University of Hong Kong Department of Biomedical Engineering Task Force and Shenya Beijing Bao Zheng Yang Department of mechanical Engineering Task Force work together. Department of Biomedical Engineering, City University of Hong Kong, Dr. Lu Hao Jian and Engineering Department of Mechanical PhD students Hongying is co-first author of the paper, other authors include jointly thesis PhD students Yang Yuanyuan, Yang Zheng Bao and Shenya Beijing Engineering Department of Biomedical Corresponding Author. The project study by the National Outstanding Youth Science Foundation of China (Hong Kong and Macao) (NSFC61922093), the National Natural Science Foundation of China (61773326,11902282), the University Grants Committee of Hong Kong Education (21,210,619), Hong Kong CityFunding large school fund (9,610,390) and so on.