Review on generic methods for mechanical modeling, simulation and control of soft robots

In this review paper, we are interested in the models and algorithms that allow generic simulation and control of a soft robot. First, we start with a quick overview of modeling approaches for soft robots and available methods for calculating the mechanical compliance, and in particular numerical methods, like real-time Finite Element Method (FEM). We also show how these models can be updated based on sensor data. Then, we are interested in the problem of inverse kinematics, under constraints, with generic solutions without assumption on the robot shape, the type, the placement or the redundancy of the actuators, the material behavior… We are also interested by the use of these models and algorithms in case of contact with the environment. Moreover, we refer to dynamic control algorithms based on mechanical models, allowing for robust control of the positioning of the robot. For each of these aspects, this paper gives a quick overview of the existing methods and a focus on the use of FEM. Finally, we discuss the implementation and our contribution in the field for an open soft robotics research.

Dynamic control systems that mimic natural regulation of catabolic pathways enable rapid production of lignocellulose-derived bioproducts

Expanding the catabolic repertoire of engineered microbial bioproduction hosts enables more efficient use of complex feedstocks such as lignocellulosic hydrolysates, but the deleterious effects of existing expression systems limit the maximum carry capacity for heterologous catabolic pathways. Here we demonstrate use of a conditionally beneficial oxidative xylose catabolic pathway to improve performance of a Pseudomonas putida strain that has been engineered for growth-coupled bioconversion of glucose into the valuable bioproduct cis,cis-muconic acid. In the presence of xylose, the pathway enhances growth rate, and therefor productivity, by >60%, but the metabolic burden of constitutive pathway expression reduces the its growth rate by >20% in the absence of xylose. To mitigate this growth defect, we develop a xylose biosensor based on the XylR transcription factor from Caulobacter crescentus NA1000 to autonomously regulate pathway expression. We generate a library of engineered xylose-sensitive promoters that cover a three order-of-magnitude range of expression levels to tune pathway expression. Using structural modeling to guide mutations, we engineer XylR with two and three orders-of-magnitude reduced sensitivity to xylose and L-arabinose, respectively. A previously developed heterologous xylose isomerase pathway is placed under control of the biosensor, which improves the growth rate with xylose as a carbon source by 10% over the original constitutively expressed pathway. Finally, the oxidative xylose catabolic pathway is placed under control of the biosensor, enabling the bioproduction strain to maintain the increased growth rate in the presence of xylose, without the growth defect incurred from constitutive pathway expression in the absence of xylose. Utilizing biosensors to autonomously regulate conditionally beneficial catabolic pathways is generalizable, and will be critical for engineering bioproduction hosts bacteria with the wide range of catabolic pathways required for bioconversion of complex feedstocks.

A novel model-based robust control design for collaborative robot joint module

In order to reduce the impact of load and system parameter changes on the dynamic performance of collaborative robot joint module, a novel robust control algorithm is proposed in this paper to solve the problem of dynamic control of collaborative robot joint module trajectory tracking. The controller is composed of two parts: one is a nominal control term designed based on the dynamical model, aiming to stabilize the nominal robot system; the other is a robust control term based on the Lyapunov method, aiming to eliminate the influence of uncertainty on tracking performance, where the uncertainties include nonlinear friction, parameter uncertainty, and external disturbances. The Lyapunov minimax method is adopted to prove that the system is uniformly bounded and uniformly ultimately bounded. We performed numerical simulation and experimental validation based on an actual collaborative robot joint module experimental platform and the rapid controller prototype cSPACE. The numerical simulation and experimental results show that the controller has excellent control performance for the collaborative robot joint module and provides more accurate trajectory tracking under the influence of uncertainties.

Monitoring of Eccentric Hamstring Strength and Eccentric Derived Strength Ratios in Judokas from a Single Weight Category

Background: This study was designed to perform isokinetic knee testing of male judokas competing in the under 73 kg category. The main aims were: to establish the concentric (CON) and eccentric (ECC) strength profile of hamstrings (H) and CON profile of quadriceps (Q) muscles; to evaluate the differences in CON and ECC peak torques (PT) with various strength ratios and their bilateral asymmetries; the calculation of the dynamic control ratio (DCR) and H ECC to CON ratio (HEC); Methods: 12 judokas competing on a national and international levels with a mean age of 19 ± 4 years, a weight of 75 ± 2 kg and with a height of 176 ± 5 cm were tested. All the subjects were right-hand dominant. Isokinetic testing was performed on iMOMENT, SMM isokinetic machine (SMM, Maribor, Slovenia). The paired t-test was used to determine the difference between paired variables. The level of significance was set at p ≤ 0.05; Results: Statistical differences between left (L) and right (R) Q PT (L 266; R 241 Nm), H ECC PT (L 145; R 169 Nm), HQR (L 0.54; R 0.63), DCR (L 0.55; R 0.70), HEC (L 1.02; R 1.14) and PTQ/BW (L 3.57; R 3.23 Nm/kg) were shown. Bilateral strength asymmetries in CON contraction of 13.52% ± 10.04 % for Q, 10.86% ± 7.67 % for H and 22.04% ± 12.13% for H ECC contraction were shown. Conclusions: This study reports the isokinetic strength values of judokas in the under 73 kg category, emphasising eccentric hamstring strength and eccentric derived strength ratios DCR and HEC. It was shown that asymmetries are better detected using eccentric testing and that the dominant leg in judokas had stronger eccentric hamstring strength resulting in higher DCR and HEC.