Computational models are used to examine the effect of schooling on flow generated noise from fish swimming using their caudal fins. We simulate the flow as well as the far-field hydrodynamic sound generated by the time-varying pressure loading on these carangiform swimmers. The effect of the number of swimmers in the school, the relative phase of fin flapping of the swimmers, and their spatial arrangement is examined. The simulations indicate that the phase of the fin flapping is a dominant factor in the total sound radiated into the far-field by a group of swimmers. For small schools, a suitable choice of relative phase between the swimmers can significantly reduce the overall intensity of the sound radiated to the far-field. The relative positioning of the swimmers is also shown to have an impact on the total radiated noise. For a larger school, even highly uncorrelated phases of fin movement between the swimmers in the school are very effective in significantly reducing the overall intensity of sound radiated into the far-field. The implications of these findings for fish ethology as well as the design and operation of bioinspired vehicles are discussed.
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ISSN: 1748-3190
Bioinspiration & Biomimetics publishes research that discovers and uses principles from natural systems to create physical models, engineering systems and technological designs.
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Ji Zhou et al 2024 Bioinspir. Biomim. 19 036015
Victoria A Webster-Wood et al 2023 Bioinspir. Biomim. 18 015001
The past ten years have seen the rapid expansion of the field of biohybrid robotics. By combining engineered, synthetic components with living biological materials, new robotics solutions have been developed that harness the adaptability of living muscles, the sensitivity of living sensory cells, and even the computational abilities of living neurons. Biohybrid robotics has taken the popular and scientific media by storm with advances in the field, moving biohybrid robotics out of science fiction and into real science and engineering. So how did we get here, and where should the field of biohybrid robotics go next? In this perspective, we first provide the historical context of crucial subareas of biohybrid robotics by reviewing the past 10+ years of advances in microorganism-bots and sperm-bots, cyborgs, and tissue-based robots. We then present critical challenges facing the field and provide our perspectives on the vital future steps toward creating autonomous living machines.
Simon R Anuszczyk and John O Dabiri 2024 Bioinspir. Biomim. 19 026018
The vast majority of the ocean's volume remains unexplored, in part because of limitations on the vertical range and measurement duration of existing robotic platforms. In light of the accelerating rate of climate change impacts on the physics and biogeochemistry of the ocean, the need for new tools that can measure more of the ocean on faster timescales is becoming pressing. Robotic platforms inspired or enabled by aquatic organisms have the potential to augment conventional technologies for ocean exploration. Recent work demonstrated the feasibility of directly stimulating the muscle tissue of live jellyfish via implanted microelectronics. We present a biohybrid robotic jellyfish that leverages this external electrical swimming control, while also using a 3D printed passive mechanical attachment to streamline the jellyfish shape, increase swimming performance, and significantly enhance payload capacity. A six-meter-tall, 13 600 l saltwater facility was constructed to enable testing of the vertical swimming capabilities of the biohybrid robotic jellyfish over distances exceeding 35 body diameters. We found that the combination of external swimming control and the addition of the mechanical forebody resulted in an increase in swimming speeds to 4.5 times natural jellyfish locomotion. Moreover, the biohybrid jellyfish were capable of carrying a payload volume up to 105% of the jellyfish body volume. The added payload decreased the intracycle acceleration of the biohybrid robots relative to natural jellyfish, which could also facilitate more precise measurements by onboard sensors that depend on consistent platform motion. While many robotic exploration tools are limited by cost, energy expenditure, and varying oceanic environmental conditions, this platform is inexpensive, highly efficient, and benefits from the widespread natural habitats of jellyfish. The demonstrated performance of these biohybrid robots suggests an opportunity to expand the set of robotic tools for comprehensive monitoring of the changing ocean.
D J McCafferty et al 2018 Bioinspir. Biomim. 13 011001
Birds and mammals have evolved many thermal adaptations that are relevant to the bioinspired design of temperature control systems and energy management in buildings. Similar to many buildings, endothermic animals generate internal metabolic heat, are well insulated, regulate their temperature within set limits, modify microclimate and adjust thermal exchange with their environment. We review the major components of animal thermoregulation in endothermic birds and mammals that are pertinent to building engineering, in a world where climate is changing and reduction in energy use is needed. In animals, adjustment of insulation together with physiological and behavioural responses to changing environmental conditions fine-tune spatial and temporal regulation of body temperature, while also minimizing energy expenditure. These biological adaptations are characteristically flexible, allowing animals to alter their body temperatures to hourly, daily, or annual demands for energy. They exemplify how buildings could become more thermally reactive to meteorological fluctuations, capitalising on dynamic thermal materials and system properties. Based on this synthesis, we suggest that heat transfer modelling could be used to simulate these flexible biomimetic features and assess their success in reducing energy costs while maintaining thermal comfort for given building types.
Falk Tauber et al 2023 Bioinspir. Biomim. 18 035001
Since its beginnings in the 1960s, soft robotics has been a steadily growing field that has enjoyed recent growth with the advent of rapid prototyping and the provision of new flexible materials. These two innovations have enabled the development of fully flexible and untethered soft robotic systems. The integration of novel sensors enabled by new manufacturing processes and materials shows promise for enabling the production of soft systems with 'embodied intelligence'. Here, four experts present their perspectives for the future of the field of soft robotics based on these past innovations. Their focus is on finding answers to the questions of: how to manufacture soft robots, and on how soft robots can sense, move, and think. We highlight industrial production techniques, which are unused to date for manufacturing soft robots. They discuss how novel tactile sensors for soft robots could be created to enable better interaction of the soft robot with the environment. In conclusion this article highlights how embodied intelligence in soft robots could be used to make soft robots think and to make systems that can compute, autonomously, from sensory inputs.
Yusuf Dikici et al 2024 Bioinspir. Biomim. 19 046002
Soft-bodied animals, such as worms and snakes, use many muscles in different ways to traverse unstructured environments and inspire tools for accessing confined spaces. They demonstrate versatility of locomotion which is essential for adaptation to changing terrain conditions. However, replicating such versatility in untethered soft-bodied robots with multimodal locomotion capabilities have been challenging due to complex fabrication processes and limitations of soft body structures to accommodate hardware such as actuators, batteries and circuit boards. Here, we present MetaCrawler, a 3D printed metamaterial soft robot designed for multimodal and omnidirectional locomotion. Our design approach facilitated an easy fabrication process through a discrete assembly of a modular nodal honeycomb lattice with soft and hard components. A crucial benefit of the nodal honeycomb architecture is the ability of its hard components, nodes, to accommodate a distributed actuation system, comprising servomotors, control circuits, and batteries. Enabled by this distributed actuation, MetaCrawler achieves five locomotion modes: peristalsis, sidewinding, sideways translation, turn-in-place, and anguilliform. Demonstrations showcase MetaCrawler's adaptability in confined channel navigation, vertical traversing, and maze exploration. This soft robotic system holds the potential to offer easy-to-fabricate and accessible solutions for multimodal locomotion in applications such as search and rescue, pipeline inspection, and space missions.
Emily Birch et al 2024 Bioinspir. Biomim. 19 036018
The urgency for energy efficient, responsive architectures has propelled smart material development to the forefront of scientific and architectural research. This paper explores biological, physical, and morphological factors influencing the programming of a novel microbial-based smart hybrid material which is responsive to changes in environmental humidity. Hygromorphs respond passively, without energy input, by expanding in high humidity and contracting in low humidity. Bacillus subtilis develops environmentally robust, hygromorphic spores which may be harnessed within a bilayer to generate a deflection response with potential for programmability. The bacterial spore-based hygromorph biocomposites (HBCs) were developed and aggregated to enable them to open and close apertures and demonstrate programmable responses to changes in environmental humidity. This study spans many fields including microbiology, materials science, design, fabrication and architectural technology, working at multiple scales from single cells to 'bench-top' prototype.
Exploration of biological factors at cellular and ultracellular levels enabled optimisation of growth and sporulation conditions to biologically preprogramme optimum spore hygromorphic response and yield. Material explorations revealed physical factors influencing biomechanics, preprogramming shape and response complexity through fabrication and inert substrate interactions, to produce a palette of HBCs. Morphological aggregation was designed to harness and scale-up the HBC palette into programmable humidity responsive aperture openings. This culminated in pilot performance testing of a humidity-responsive ventilation panel fabricated with aggregated Bacillus HBCs as a bench-top prototype and suggests potential for this novel biotechnology to be further developed.
Rikima Kuwada and Daisuke Ishii 2024 Bioinspir. Biomim. 19 036016
Nature is filled with materials that are both strong and light, such as bones, teeth, bamboo, seashells, arthropod exoskeletons, and nut shells. The insights gained from analyzing the changing chemical compositions and structural characteristics, as well as the mechanical properties of these materials, have been applied in developing innovative, durable, and lightweight materials like those used for impact absorption. This research concentrates on the involucres of Job's tears (Coix lacryma-jobi var. lacryma-jobi), which are rich in silica, hard, and serve to encase the seeds. The chemical composition and structural characteristics of involucres were observed using scanning electron microscopy and energy-dispersive x-ray spectroscopy and optical microscopy with safranin staining. The hardness of the outer and inner surfaces of the involucre was measured using the micro-Vickers hardness test, and the Young's modulus of the involucre's cross-section was measured using nanoindentation. Additionally, the breaking behavior of involucres was measured through compression test and three-point bending tests. The results revealed a smooth transition in chemical composition, as well as in the orientation and dimensions of the tissues from the outer to the inner layers of involucres. Furthermore, it was estimated that the spatial gradient of the Young's modulus is due to the gradient of silica deposition. By distributing the hard, brittle silica in the outer layer and elastoplastic organic components in the middle and inner layers, the involucres effectively respond to compressive and tensile stresses that occur when loads are applied to the outside of the involucre. Furthermore, the involucres are reinforced in both meridional and equatorial directions by robust fibrovascular bundles, fibrous bundles, and the inner layer's sclerenchyma fibers. From these factors, it was found that involucres exhibit high toughness against loads from outside, making it less prone to cracking.
Nadine Badie and Syn Schmitt 2024 Bioinspir. Biomim. 19 036012
Recognizing humans' unmatched robustness, adaptability, and learning abilities across anthropomorphic movements compared to robots, we find inspiration in the simultaneous development of both morphology and cognition observed in humans. We utilize optimal control principles to train a muscle-actuated human model for both balance and squat jump tasks in simulation. Morphological development is introduced through abrupt transitions from a 4 year-old to a 12 year-old morphology, ultimately shifting to an adult morphology. We create two versions of the 4 year-old and 12 year-old models— one emulating human ontogenetic development and another uniformly scaling segment lengths and related parameters. Our results show that both morphological development strategies outperform the non-development path, showcasing enhanced robustness to perturbations in the balance task and increased jump height in the squat jump task. Our findings challenge existing research as they reveal that starting with initial robot designs that do not inherently facilitate learning and incorporating abrupt changes in their morphology can still lead to improved results, provided these morphological adaptations draw inspiration from biological principles.
Michael Seokyoung Han and Cindy K Harnett 2024 Bioinspir. Biomim. 19 021001
The development of robotic hands that can replicate the complex movements and dexterity of the human hand has been a longstanding challenge for scientists and engineers. A human hand is capable of not only delicate operation but also crushing with power. For performing tasks alongside and in place of humans, an anthropomorphic manipulator design is considered the most advanced implementation, because it is able to follow humans' examples and use tools designed for people. In this article, we explore the journey from human hands to robot hands, tracing the historical advancements and current state-of-the-art in hand manipulator development. We begin by investigating the anatomy and function of the human hand, highlighting the bone-tendon-muscle structure, skin properties, and motion mechanisms. We then delve into the field of robotic hand development, focusing on highly anthropomorphic designs. Finally, we identify the requirements and directions for achieving the next level of robotic hand technology.
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Samuel C Stanton 2024 Bioinspir. Biomim. 19 046006
Recent experiments with gliding raptors reveal a perplexing dichotomy: remarkably resilient gust rejection, but, at the same time, an exceptionally high degree of longitudinal instability. To resolve this incompatibility, a multiple degree of freedom model is developed with minimal requisite complexity to examine the hypothesis that the bird shoulder joint may embed essential stabilizing and preflexive mechanisms for rejecting rapid perturbations while simplifying and reducing control effort. Thus, the formulation herein is centrally premised upon distinct wing pitch and body pitch angles coupled via a Kelvin–Voigt viscoelastic shoulder joint. The model accurately exhibits empirical gust response of an unstable gliding raptor, generates biologically plausible equilibrium configurations, and the viscoelastic shoulder coupling is shown to drastically alleviate the high degree of instability predicted by conventional linear flight dynamics models. In fact, stability analysis of the model predicts a critical system timescale (the time to double amplitude of a pitch divergence mode) that is commensurate with in vivo measured latency of barn owls (Tyto alba). Active gust mitigation is studied by presupposing the owl behaves as an optimal controller. The system is under-actuated and the feedback control law is resolved in the controllable subspace using a Kalman decomposition. Importantly, control-theoretic analysis precisely identifies what discrete gust frequencies may be rapidly and passively rejected versus disturbances requiring feedback control intervention.
Hadrien Sprumont et al 2024 Bioinspir. Biomim. 19 046005
Animals have evolved highly effective locomotion capabilities in terrestrial, aerial, and aquatic environments. Over life's history, mass extinctions have wiped out unique animal species with specialized adaptations, leaving paleontologists to reconstruct their locomotion through fossil analysis. Despite advancements, little is known about how extinct megafauna, such as the Ichthyosauria one of the most successful lineages of marine reptiles, utilized their varied morphologies for swimming. Traditional robotics struggle to mimic extinct locomotion effectively, but the emerging soft robotics field offers a promising alternative to overcome this challenge. This paper aims to bridge this gap by studying Mixosaurus locomotion with soft robotics, combining material modeling and biomechanics in physical experimental validation. Combining a soft body with soft pneumatic actuators, the soft robotic platform described in this study investigates the correlation between asymmetrical fins and buoyancy by recreating the pitch torque generated by extinct swimming animals. We performed a comparative analysis of thrust and torque generated by Carthorhyncus, Utatsusaurus, Mixosaurus, Guizhouichthyosaurus, and Ophthalmosaurus tail fins in a flow tank. Experimental results suggest that the pitch torque on the torso generated by hypocercal fin shapes such as found in model systems of Guizhouichthyosaurus, Mixosaurus and Utatsusaurus produce distinct ventral body pitch effects able to mitigate the animal's non-neutral buoyancy. This body pitch control effect is particularly pronounced in Guizhouichthyosaurus, which results suggest would have been able to generate high ventral pitch torque on the torso to compensate for its positive buoyancy. By contrast, homocercal fin shapes may not have been conducive for such buoyancy compensation, leaving torso pitch control to pectoral fins, for example. Across the range of the actuation frequencies of the caudal fins tested, resulted in oscillatory modes arising, which in turn can affect the for-aft thrust generated.
Qiang Zhu and Qing Xiao 2024 Bioinspir. Biomim. 19 046004
Inspired by the vibrations of aquatic plants such as seaweed in the unsteady flow fields generated by free-surface waves, we investigate a novel device based on piezoelectric plates to harvest energy from oscillatory cross flows. Towards this end, numerical studies are conducted using a flow-structure-electric interaction model to understand the underlying physical mechanisms involved in the dynamics and energy harvesting performance of one or a pair of piezoelectric plates in an oscillatory cross flow. In a single-plate configuration, both periodic and irregular responses have been observed depending on parameters such as normalized plate stiffness and Keulegan–Carpenter number. Large power harvesting is achieved with the excitation of natural modes. Besides, when the time scale of the motion and the intrinsic time scale of the circuit are close to each other the power extraction is enhanced. In a two-plate configuration with tandem formation, the hydrodynamic interaction between the two plates can induce irregularity in the response. In terms of energy harvesting, two counteracting mechanisms have been identified, shielding and energy recovery. The shielding effect reduces plate motion and energy harvesting, whereas with the energy recovery effect one plate is able to recovery energy from the wake of another for performance enhancement. The competition between these mechanisms leads to constructive or destructive interactions between the two plates. These results suggest that for better performance the system should be excited at its natural period, which should be close to the intrinsic time scale of the circuit. Moreover, using a pair of plates in a tandem formation can further improve the energy harvesting capacity when conditions for constructive interaction are satisfied.
Yusuf Dikici et al 2024 Bioinspir. Biomim. 19 046002
Soft-bodied animals, such as worms and snakes, use many muscles in different ways to traverse unstructured environments and inspire tools for accessing confined spaces. They demonstrate versatility of locomotion which is essential for adaptation to changing terrain conditions. However, replicating such versatility in untethered soft-bodied robots with multimodal locomotion capabilities have been challenging due to complex fabrication processes and limitations of soft body structures to accommodate hardware such as actuators, batteries and circuit boards. Here, we present MetaCrawler, a 3D printed metamaterial soft robot designed for multimodal and omnidirectional locomotion. Our design approach facilitated an easy fabrication process through a discrete assembly of a modular nodal honeycomb lattice with soft and hard components. A crucial benefit of the nodal honeycomb architecture is the ability of its hard components, nodes, to accommodate a distributed actuation system, comprising servomotors, control circuits, and batteries. Enabled by this distributed actuation, MetaCrawler achieves five locomotion modes: peristalsis, sidewinding, sideways translation, turn-in-place, and anguilliform. Demonstrations showcase MetaCrawler's adaptability in confined channel navigation, vertical traversing, and maze exploration. This soft robotic system holds the potential to offer easy-to-fabricate and accessible solutions for multimodal locomotion in applications such as search and rescue, pipeline inspection, and space missions.
Jun Zhang et al 2024 Bioinspir. Biomim. 19 046003
The human toe, characterized by its rigid-flexible structure comprising hard bones and flexible joints, facilitates adaptive and stable movement across varied terrains. In this paper, we utilized a motion capture system to study the adaptive adjustments of toe joints when encountering obstacles. Inspired by the mechanics of toe joints, we proposed a novel design method for a rigid-flexible coupled wheel. The wheel comprises multiple elements: a rigid skeleton, supporting toes, connecting shafts, torsion springs, soft tendons, and damping pads. The torsion springs connect the rigid frame to the supporting toes, enabling them to adapt to uneven terrains and pipes with different diameters. The design was validated through kinematic and dynamic modeling, rigid-flexible coupled dynamics simulation, and stress analysis. Different stiffness coefficients of torsion springs were compared for optimal wheel design. Then, the wheel was applied to a sewer robot, and its performance was evaluated and compared with a pneumatic rubber tire in various experiments, including movement on flat surfaces, overcoming small obstacles, adaptability tests in different terrains, and active driving force tests in dry and wet pipelines. The results prove that the designed wheel showed better stability and anti-slip properties than conventional tires, making it suitable for diverse applications such as pipeline robots, desert vehicles, and lunar rovers.
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Naim Sedira et al 2024 Bioinspir. Biomim. 19 041001
This paper presents a bibliometrics analysis aimed at discerning global trends in research on 'biomimetics', 'biomimicry', 'bionics', and 'bio-inspired' concepts within civil engineering, using the Scopus database. This database facilitates the assessment of interrelationships and impacts of these concepts within the civil engineering domain. The findings demonstrate a consistent growth in publications related to these areas, indicative of increasing interest and impact within the civil engineering community. Influential authors and institutions have emerged, making significant contributions to the field. The United States, Germany, and the United Kingdom are recognised as leaders in research on these concepts in civil engineering. Notably, emerging countries such as China and India have also made considerable contributions. The integration of design principles inspired by nature into civil engineering holds the potential to drive sustainable and innovative solutions for various engineering challenges. The conducted bibliometrics analysis grants perspective on the current state of scientific research on biomimetics, biomimicry, bionics, and bio-inspired concepts in the civil engineering domain, offering data to predict the evolution of each concept in the coming years. Based on the findings of this research, 'biomimetics' replicates biological substances, 'biomimicry' directly imitates designs, and 'bionics' mimics biological functions, while 'bio-inspired' concepts offer innovative ideas beyond direct imitation. Each term incorporates distinct strategies, applications, and historical contexts, shaping innovation across the field of civil engineering.
Amal Prakash et al 2024 Bioinspir. Biomim. 19 031002
Over the past few years, the research community has witnessed a burgeoning interest in biomimetics, particularly within the marine sector. The study of biomimicry as a revolutionary remedy for numerous commercial and research-based marine businesses has been spurred by the difficulties presented by the harsh maritime environment. Biomimetic marine robots are at the forefront of this innovation by imitating various structures and behaviors of marine life and utilizing the evolutionary advantages and adaptations these marine organisms have developed over millennia to thrive in harsh conditions. This thorough examination explores current developments and research efforts in biomimetic marine robots based on their propulsion mechanisms. By examining these biomimetic designs, the review aims to solve the mysteries buried in the natural world and provide vital information for marine improvements. In addition to illuminating the complexities of these bio-inspired mechanisms, the investigation helps to steer future research directions and possible obstacles, spurring additional advancements in the field of biomimetic marine robotics. Considering the revolutionary potential of using nature's inventiveness to navigate and thrive in one of the most challenging environments on Earth, the current review's conclusion urges a multidisciplinary approach by integrating robotics and biology. The field of biomimetic marine robotics not only represents a paradigm shift in our relationship with the oceans, but it also opens previously unimaginable possibilities for sustainable exploration and use of marine resources by understanding and imitating nature's solutions.
Ahmad Hammad and Sophie F Armanini 2024 Bioinspir. Biomim. 19 031001
Bioinspired flapping–wing micro aerial vehicles (FWMAVs) have emerged over the last two decades as a promising new type of robot. Their high thrust-to-weight ratio, versatility, safety, and maneuverability, especially at small scales, could make them more suitable than fixed-wing and multi-rotor vehicles for various applications, especially in cluttered, confined environments and in close proximity to humans, flora, and fauna. Unlike natural flyers, however, most FWMAVs currently have limited take-off and landing capabilities. Natural flyers are able to take off and land effortlessly from a wide variety of surfaces and in complex environments. Mimicking such capabilities on flapping-wing robots would considerably enhance their practical usage. This review presents an overview of take-off and landing techniques for FWMAVs, covering different approaches and mechanism designs, as well as dynamics and control aspects. The special case of perching is also included. As well as discussing solutions investigated for FWMAVs specifically, we also present solutions that have been developed for different types of robots but may be applicable to flapping-wing ones. Different approaches are compared and their suitability for different applications and types of robots is assessed. Moreover, research and technology gaps are identified, and promising future work directions are identified.
Costanza Armanini et al 2024 Bioinspir. Biomim. 19 021002
Agricultural tasks and environments range from harsh field conditions with semi-structured produce or animals, through to post-processing tasks in food-processing environments. From farm to fork, the development and application of soft robotics offers a plethora of potential uses. Robust yet compliant interactions between farm produce and machines will enable new capabilities and optimize existing processes. There is also an opportunity to explore how modeling tools used in soft robotics can be applied to improve our representation and understanding of the soft and compliant structures common in agriculture. In this review, we seek to highlight the potential for soft robotics technologies within the food system, and also the unique challenges that must be addressed when developing soft robotics systems for this problem domain. We conclude with an outlook on potential directions for meaningful and sustainable impact, and also how our outlook on both soft robotics and agriculture must evolve in order to achieve the required paradigm shift.
Michael Seokyoung Han and Cindy K Harnett 2024 Bioinspir. Biomim. 19 021001
The development of robotic hands that can replicate the complex movements and dexterity of the human hand has been a longstanding challenge for scientists and engineers. A human hand is capable of not only delicate operation but also crushing with power. For performing tasks alongside and in place of humans, an anthropomorphic manipulator design is considered the most advanced implementation, because it is able to follow humans' examples and use tools designed for people. In this article, we explore the journey from human hands to robot hands, tracing the historical advancements and current state-of-the-art in hand manipulator development. We begin by investigating the anatomy and function of the human hand, highlighting the bone-tendon-muscle structure, skin properties, and motion mechanisms. We then delve into the field of robotic hand development, focusing on highly anthropomorphic designs. Finally, we identify the requirements and directions for achieving the next level of robotic hand technology.
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Geng Liu et al 2019 Bioinspir. Biomim. 14 066001
Seals are able to use their uniquely shaped whiskers to track hydrodynamic trails generated 30 s ago and detect hydrodynamic velocities as low as 245 m s−1. The high sensibility has long thought to be related to the wavy shape of the whiskers. This work revisited the hydrodynamics of a seal whisker model in a uniform flow, and discovered a new mechanism of seal whiskers in reducing self-induced noises, which is different from the long thought-of effect of the wavy shape. It was reported that the major and minor axes of the elliptical cross-sections of seal whisker are out of phase by approximately 180 degrees. Three-dimensional numerical simulations of laminar flow (Reynolds number range: 150–500) around seal-whisker-like cylinders were performed to examine the effect of the phase-difference on hydrodynamic forces and wake structures. It was found that the phase-difference induced hairpin vortices in the wake over a wide range of geometric and flow parameters (wavelength, wavy amplitude and Reynolds number), therefore substantially reducing lift-oscillations and self-induced noises. The formation mechanism of the hairpin vortices was analyzed and is discussed in details. The results provide valuable insights into an innovative vibration reduction and hydrodynamic sensing mechanism.
Shura Suzuki et al 2019 Bioinspir. Biomim. 14 066010
Quadrupeds achieve rapid and highly adaptive locomotion owing to the coordination between their legs and other body parts such as their trunk, head, and tail, i.e. body–limb coordination. Therefore, a better understanding of the mechanism underlying body–limb coordination could provide informative insights into the improvement of legged robot mobility. Sprawling locomotion is a walking gait with lateral bending exhibited in primitive legged vertebrates such as salamanders and newts. Because primitive animals are anticipated to possess the essence of quadruped motor control, their locomotion helps better understand body–limb coordination mechanisms. Previous studies modeled neural networks in salamanders and employed it to control robots and investigate and emulate sprawling locomotion. However, these models predefined the relationship between the legs and the trunk, such that how body–limb coordination is attained is largely unknown. In this article, we demonstrate that sensory feedback facilitates body–limb coordination in sprawling locomotion and improves mobility through mathematical modeling and robot simulations. Our proposed model has cross-coupled sensory feedback, that is, bidirectional feedback from body to limb and limb to body, which leads to an appropriate relationship between the legs and the trunk without any predefined relationship. Resulting gaits are similar to the sprawling locomotion of salamanders and achieve high speed and energy efficiency that are at the same level as those of a neural network model, such as conventional models, optimizing the relationship between the legs and the trunk. Furthermore, sensory feedback contributes to the adaptability toward leg failure, and the bidirectionality of feedback facilitates parameter tuning for stable locomotion. These results suggest that cross-coupled sensory feedback facilitates sprawling locomotion and potentially plays an important role in the body–limb coordination mechanism.
Meera B Parikh et al 2019 Bioinspir. Biomim. 14 055005
Chimney swifts (Chaetura pelagica) are highly aerial, small, insectivorous birds well known for roosting en masse in chimneys during their autumn migration. These roosting events require hundreds to thousands of birds to enter a small opening (here 0.64 m2) within a short amount of time (15–30 min). Thus, these entry events pose a complex navigational and behavioral challenge as birds identify their entry route, cooperate with other birds present to form an entry flock, and compete with other birds at the time of chimney entry. We used six synchronized cameras to capture and reconstruct the 3D flight trajectories of swifts before and during chimney entry. Navigation into the chimney is consistent with use of a relative retinal expansion velocity cue, which results in an entry/non-entry decision point about 1.5 m above the chimney, or 0.4 s at typical entry speeds. Entries were highly clustered with 91 of 136 entries occurring within 1 s of another entry. We observed both synchronous (entry within 0.2 s) and sequential entry behavior (entry separated by ~0.4 s). Birds entering the chimney flew in close proximity to other birds (median minimum distance 0.51 m; 1.7 wingspans). In cases where two birds appeared to attempt a near-simultaneous entry, the bird either slightly to the rear or with a velocity vector bringing it closer to the current position of the other bird tended to make an avoidance maneuver and abandon its entry attempt. Overall, these results show how groups of animals execute complex landing and collision avoidance maneuvers in a natural setting without central control authority.
Nicholas M Smith et al 2019 Bioinspir. Biomim. 14 031001
Groups of organisms such as flocks, swarms, herds, and schools form for a variety of motivations linked to survival and proliferation. Their size, locomotive domain, population, and the environmental stimuli guiding motion make challenging the study of member interactions and global behaviors. In this review, we borrow principles and analogies from fluids to describe the characteristics of organismal aggregations, which may inspire new tools for the analysis of collective motion. Examples of fluid resemblance include open channel flow, droplet formation, and particle-laden flow. We show how the properties of density, viscosity, and surface tension have strong parallels in the structure and behavior of aggregations of contrasting scale and domain. In certain cases, aggregations are sufficiently fluid-like that values can be assigned to such properties. We highlight how organisms engaging in collective motion can flow, roll, and change phase. Finally, we present limitations and exceptions for the application of fluidic principles to the motion of living groups.
Yang Cheng et al 2019 Bioinspir. Biomim. 14 031002
The natural compound eye has received much attention in recent years due to its remarkable properties, such as its large field of view (FOV), compact structure, and high sensitivity to moving objects. Many studies have been devoted to mimicking the imaging system of the natural compound eye. The paper gives a review of state-of-the-art artificial compound eye imaging systems. Firstly, we introduce the imaging principle of three types of natural compound eye. Then, we divide current artificial compound eye imaging systems into four categories according to the difference of structural composition. Readers can easily grasp methods to build an artificial compound eye imaging system from the perspective of structural composition. Moreover, we compare the imaging performance of state-of-the-art artificial compound eye imaging systems, which provides a reference for readers to design system parameters of an artificial compound eye imaging system. Next, we present the applications of the artificial compound eye imaging system including imaging with a large FOV, imaging with high resolution, object distance detection, medical imaging, egomotion estimation, and navigation. Finally, an outlook of the artificial compound eye imaging system is highlighted.
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Liu et al
This study aims to investigate the feasibility of using an Artificial Lateral Line system for predicting the real-time position and pose of an undulating swimmer with Carangiform swimming patterns. We established a 3D Computational Fluid Dynamics simulation to replicate the swimming dynamics of a freely swimming mackerel under various motion parameters, calculating the corresponding pressure fields. Using the simulated lateral line data, we trained an artificial neural network to predict the centroid coordinates and orientation of the swimmer. A comprehensive analysis was further conducted to explore the impact of sensor quantity, distribution, noise amplitude and sampling intervals of the Artificial Lateral Line array on predicting performance. Additionally, to quantitatively assess the reliability of the localization network, we trained another neural network to evaluate error magnitudes for different input signals. These findings provide valuable insights for guiding future research on mutual sensing and schooling in underwater robotic fish.
Das et al
State-of-the-art morphing materials are either very compliant to achieve large shape changes (flexible metamaterials, compliant mechanisms, hydrogels), or very stiff but with infinitesimal changes in shape that require large actuation forces (metallic or composite panels with piezoelectric actuation). Morphing efficiency and structural stiffness are therefore mutually exclusive properties in current engineering morphing materials, which limits the range of their applicability. Interestingly, natural fish fins do not contain muscles, yet they can morph to large amplitudes with minimal muscular actuation forces from the base while producing large hydrodynamic forces without collapsing. This sophisticated mechanical response has already inspired several synthetic fin rays with various applications. However, most "synthetic" fin rays have only considered uniform properties and structures along the rays while in natural fin rays, gradients of properties are prominent. In this study, we designed, modeled, fabricated and tested synthetic fin rays with bioinspired gradients of properties. The rays were composed of two hemitrichs made of a stiff polymer, joined by a much softer core region made of elastomeric ligaments. Using combinations of experiments and nonlinear mechanical models, we found that gradients in both the core region and hemitrichs can increase the morphing and stiffening response of individual rays. Introducing a positive gradient of ligament density in the core region (the density of ligament increases towards the tip of the ray) decreased the actuation force required for morphing and increased overall flexural stiffness. Introducing a gradient of property in the hemitrichs, by tapering them, produced morphing deformations that were distributed over long distances along the length of the ray. These new insights on the interplay between material architecture and properties in nonlinear regimes of deformation can improve the designs of morphing structures that combine high morphing efficiency and high stiffness from external forces, with potential applications in aerospace or robotics.
Zhang et al
Aiming at the blade flutter of large horizontal-axis wind turbines, a method by utilizing biomimetic corrugation to suppress blade flutter is first proposed. By extracting the dragonfly wing corrugation, the biomimetic corrugation airfoil is constructed, finding that mapping corrugation to the airfoil pressure side has better aerodynamic performance. The influence of corrugation type, amplitude λ, and intensity on airfoil flutter is analyzed using orthogonal experiment, which determines that the λ has the greatest influence on airfoil flutter. Based on the drag coefficient flutter index δ, the optimal airfoil flutter suppression effect is obtained when the type is III, λ=0.6, and intensity is denser (n=13). The effective corrugation layout area in the chord direction is determined to be the leading edge, and the δ of corrugation airfoil is reduced by 5.049%, compared to the original airfoil. The application of this corrugation to NREL 15 MW wind turbine 3D blades is studied, and the influence of corrugation layout length in the blade span direction on the suppressive effect is analyzed by fluid-structure interaction. It is found that when the layout length is 0.85R, the safety margin Sf reaches a maximum value of 0.3431 Hz, which is increased 2.940%. The results show that the biomimetic corrugated structure proposed in this paper can not only improve the aerodynamic performance by changing the local flow field on the surface of the blade, but also increase the structural stiffness of the blade itself, and achieve the effect of flutter suppression.
Bao et al
The spring-loaded inverted pendulum (SLIP) model is an effective model to capture the essential dynamics during human walking and/or running. However, most of the existing three-dimensional (3D) SLIP model does not explicitly account for human moving speed and frequency. To address this knowledge gap, this paper develops a new SLIP model which includes roller foot, massless spring and concentrated mass. The governing equations-of-motion for SLIP model during its double support phase are derived. It is noted that in the current formulation, the motion of roller foot is prescribed so only the equations for the concentrated mass needs to be solved. In order to yield model parameters leading to a periodic walking gait, a constrained optimization problem is formulated and solved using gradient-based approach with a global search strategy. The optimization results show that when the attack angle ranges from 68° to 74° the 3D SLIP model can yield a periodic walking gait with walking speeds varying from 0.5 to 2.0 m/s, the predicted human walking data is also compared with published experimental data, finding reasonable accuracy.
Xiao et al
Euplectella aspergillum marine sponge spicules are renowned for their remarkable strength and toughness. These spicules exhibit a unique concentric layering structure, which contributes to their exceptional mechanical resistance. In this study, finite element method simulations were used to comprehensively investigate the effect of nested cylindrical structures on the mechanical properties of spicules. This investigation leveraged scanning electron microscopy images to guide the computational modeling of the microstructure and the results were validated by three-point bending tests of 3D-printed spicule-inspired structures. The numerical analyses showed that the nested structure of spicules induces stress and strain jumps on the layer interfaces, reducing the load on critical zones of the fiber and increasing its toughness. It was found that this effect shows a tapering enhancement as the number of layers increases, which combines with a threshold related to the 3D-printing manufacturability to suggest a compromise for optimal performance. A comprehensive evaluation of the mechanical properties of these fibers can assist in developing a new generation of bioinspired structures with practical real-world applications.
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Hadrien Sprumont et al 2024 Bioinspir. Biomim. 19 046005
Animals have evolved highly effective locomotion capabilities in terrestrial, aerial, and aquatic environments. Over life's history, mass extinctions have wiped out unique animal species with specialized adaptations, leaving paleontologists to reconstruct their locomotion through fossil analysis. Despite advancements, little is known about how extinct megafauna, such as the Ichthyosauria one of the most successful lineages of marine reptiles, utilized their varied morphologies for swimming. Traditional robotics struggle to mimic extinct locomotion effectively, but the emerging soft robotics field offers a promising alternative to overcome this challenge. This paper aims to bridge this gap by studying Mixosaurus locomotion with soft robotics, combining material modeling and biomechanics in physical experimental validation. Combining a soft body with soft pneumatic actuators, the soft robotic platform described in this study investigates the correlation between asymmetrical fins and buoyancy by recreating the pitch torque generated by extinct swimming animals. We performed a comparative analysis of thrust and torque generated by Carthorhyncus, Utatsusaurus, Mixosaurus, Guizhouichthyosaurus, and Ophthalmosaurus tail fins in a flow tank. Experimental results suggest that the pitch torque on the torso generated by hypocercal fin shapes such as found in model systems of Guizhouichthyosaurus, Mixosaurus and Utatsusaurus produce distinct ventral body pitch effects able to mitigate the animal's non-neutral buoyancy. This body pitch control effect is particularly pronounced in Guizhouichthyosaurus, which results suggest would have been able to generate high ventral pitch torque on the torso to compensate for its positive buoyancy. By contrast, homocercal fin shapes may not have been conducive for such buoyancy compensation, leaving torso pitch control to pectoral fins, for example. Across the range of the actuation frequencies of the caudal fins tested, resulted in oscillatory modes arising, which in turn can affect the for-aft thrust generated.
Yusuf Dikici et al 2024 Bioinspir. Biomim. 19 046002
Soft-bodied animals, such as worms and snakes, use many muscles in different ways to traverse unstructured environments and inspire tools for accessing confined spaces. They demonstrate versatility of locomotion which is essential for adaptation to changing terrain conditions. However, replicating such versatility in untethered soft-bodied robots with multimodal locomotion capabilities have been challenging due to complex fabrication processes and limitations of soft body structures to accommodate hardware such as actuators, batteries and circuit boards. Here, we present MetaCrawler, a 3D printed metamaterial soft robot designed for multimodal and omnidirectional locomotion. Our design approach facilitated an easy fabrication process through a discrete assembly of a modular nodal honeycomb lattice with soft and hard components. A crucial benefit of the nodal honeycomb architecture is the ability of its hard components, nodes, to accommodate a distributed actuation system, comprising servomotors, control circuits, and batteries. Enabled by this distributed actuation, MetaCrawler achieves five locomotion modes: peristalsis, sidewinding, sideways translation, turn-in-place, and anguilliform. Demonstrations showcase MetaCrawler's adaptability in confined channel navigation, vertical traversing, and maze exploration. This soft robotic system holds the potential to offer easy-to-fabricate and accessible solutions for multimodal locomotion in applications such as search and rescue, pipeline inspection, and space missions.
Yuanxin Xiao et al 2024 Bioinspir. Biomim.
Euplectella aspergillum marine sponge spicules are renowned for their remarkable strength and toughness. These spicules exhibit a unique concentric layering structure, which contributes to their exceptional mechanical resistance. In this study, finite element method simulations were used to comprehensively investigate the effect of nested cylindrical structures on the mechanical properties of spicules. This investigation leveraged scanning electron microscopy images to guide the computational modeling of the microstructure and the results were validated by three-point bending tests of 3D-printed spicule-inspired structures. The numerical analyses showed that the nested structure of spicules induces stress and strain jumps on the layer interfaces, reducing the load on critical zones of the fiber and increasing its toughness. It was found that this effect shows a tapering enhancement as the number of layers increases, which combines with a threshold related to the 3D-printing manufacturability to suggest a compromise for optimal performance. A comprehensive evaluation of the mechanical properties of these fibers can assist in developing a new generation of bioinspired structures with practical real-world applications.
Seyedali Sabzpoushan and Peter Woias 2024 Bioinspir. Biomim.
Environmental wind is a random phenomenon in both speed and direction, though it can be forecasted to some extent. An example of that is a gust which is an abrupt, but short-time change in wind speed and direction. Being a free and clean source for small-scale energy scavenging, attraction of wind is rapidly growing in the world of energy harvesters. In this paper, a leaf-like flapping wind energy harvester is introduced as the base structure in which a short-span airfoil is attached to the free end of a double-deck cantilever beam. A flap mechanism inspired by scales on sharks' skin and a tail mechanism inspired by birds' horizontal tail are proposed for integration to the base harvester to make it adaptive with respect to wind speed and direction, respectively. The use of the flap mechanism increases the leaf flapping frequency by +2.1 to +11.5 Hz at wind speeds of 1.5 m/s to 6.0 m/s. Therefore, since the output power of a vibrational harvester is a function of vibration frequency, a figure of merit or an efficiency parameter related to the output power will increase, as well. On the other hand, if there is a misalignment between the harvester's heading and wind direction due to change of the latter one, the harvesting performance deteriorates. Although the base harvester can realign in certain ranges of sideslip angle at each wind speed, when the tail mechanism is integrated into that, it broadens the range of realignable sideslip angles at all the investigated wind speeds by up to 80°.
Tian Lan et al 2024 Bioinspir. Biomim. 19 046001
This paper presents a novel approach for designing a freeform bending-resistant structure from the combination of explicit discrete component-based topology optimization (TO) and the porcupine quill-inspired features. To embed the porcupine quill's features into the TO formulations, the method involves constructing discrete components at various scales to imitate features including solid shell, stochastically distributed pores, and graded stiffeners. The components are iteratively updated, and the optimization process allows for the grading of quill-inspired features while achieving optimal structural compliance under bending loads. The proposed approach is demonstrated to be effective through the resolution of Messershmitt–Bolkow–Blohm (MBB) beam designs, parameterized studies of geometric parameters, and numerical validation of long-span and short-span quill-inspired beam designs. By examining the von Mises stress distribution, the study highlights the mitigation of material yielding at the shell region brought by the geometric features of porcupine quills, leading to the potential theory support for the bending resistance. The optimized MBB beams are manufactured using the material extrusion technique, and three-point bending tests are conducted to explore the failure mitigation capability of the quill-inspired beam under large deformation. Consequently, the study concludes that the proposed quill-inspired component-based TO approach can design a structure with excellent bending resistance according to the improved energy absorption as well as increased deformation after reaching 75% peak load.
Naim Sedira et al 2024 Bioinspir. Biomim. 19 041001
This paper presents a bibliometrics analysis aimed at discerning global trends in research on 'biomimetics', 'biomimicry', 'bionics', and 'bio-inspired' concepts within civil engineering, using the Scopus database. This database facilitates the assessment of interrelationships and impacts of these concepts within the civil engineering domain. The findings demonstrate a consistent growth in publications related to these areas, indicative of increasing interest and impact within the civil engineering community. Influential authors and institutions have emerged, making significant contributions to the field. The United States, Germany, and the United Kingdom are recognised as leaders in research on these concepts in civil engineering. Notably, emerging countries such as China and India have also made considerable contributions. The integration of design principles inspired by nature into civil engineering holds the potential to drive sustainable and innovative solutions for various engineering challenges. The conducted bibliometrics analysis grants perspective on the current state of scientific research on biomimetics, biomimicry, bionics, and bio-inspired concepts in the civil engineering domain, offering data to predict the evolution of each concept in the coming years. Based on the findings of this research, 'biomimetics' replicates biological substances, 'biomimicry' directly imitates designs, and 'bionics' mimics biological functions, while 'bio-inspired' concepts offer innovative ideas beyond direct imitation. Each term incorporates distinct strategies, applications, and historical contexts, shaping innovation across the field of civil engineering.
Michelle Modert et al 2024 Bioinspir. Biomim. 19 036022
In nature, leaves and their laminae vary in shape, appearance and unfolding behaviour. We investigated peltate leaves of two model species with peltate leaves and highly different morphology (Syngonium podophyllum and Pilea peperomioides) and two distinct unfolding patterns via time-lapse recordings: we observed successive unfolding of leaf halves in S. podophyllum and simultaneous unfolding in P. peperomioides. Furthermore, we gathered relevant morphological and biomechanical data in juvenile (unfolding) and adult (fully unfolded) leaves of both species by measuring the thickness and the tensile modulus of both lamina and veins as a measure of their stiffness. In S. podophyllum, lamina and veins stiffen after unfolding, which may facilitate unfolding in the less stiff juvenile lamina. Secondary venation highly contributes to stiffness in the adult lamina of S. podophyllum, while the lamina itself withstands tensile loads best in direction parallel to secondary veins. In contrast, the leaf of P. peperomioides has a higher lamina thickness and small, non-prominent venation and is equally stiff in every region and direction, although, as is the case in S. podophyllum, thickness and stiffness increase during ontogeny of leaves from juvenile to adult. It could be shown that (changes in) lamina thickness and stiffness can be well correlated with the unfolding processes of both model plants, so that we conclude that functional lamina morphology in juvenile and adult leaf stages and the ontogenetic transition while unfolding is highly dependent on biomechanical characteristics, though other factors are also taken into consideration and discussed.
Emily Birch et al 2024 Bioinspir. Biomim. 19 036018
The urgency for energy efficient, responsive architectures has propelled smart material development to the forefront of scientific and architectural research. This paper explores biological, physical, and morphological factors influencing the programming of a novel microbial-based smart hybrid material which is responsive to changes in environmental humidity. Hygromorphs respond passively, without energy input, by expanding in high humidity and contracting in low humidity. Bacillus subtilis develops environmentally robust, hygromorphic spores which may be harnessed within a bilayer to generate a deflection response with potential for programmability. The bacterial spore-based hygromorph biocomposites (HBCs) were developed and aggregated to enable them to open and close apertures and demonstrate programmable responses to changes in environmental humidity. This study spans many fields including microbiology, materials science, design, fabrication and architectural technology, working at multiple scales from single cells to 'bench-top' prototype.
Exploration of biological factors at cellular and ultracellular levels enabled optimisation of growth and sporulation conditions to biologically preprogramme optimum spore hygromorphic response and yield. Material explorations revealed physical factors influencing biomechanics, preprogramming shape and response complexity through fabrication and inert substrate interactions, to produce a palette of HBCs. Morphological aggregation was designed to harness and scale-up the HBC palette into programmable humidity responsive aperture openings. This culminated in pilot performance testing of a humidity-responsive ventilation panel fabricated with aggregated Bacillus HBCs as a bench-top prototype and suggests potential for this novel biotechnology to be further developed.
Rikima Kuwada and Daisuke Ishii 2024 Bioinspir. Biomim. 19 036016
Nature is filled with materials that are both strong and light, such as bones, teeth, bamboo, seashells, arthropod exoskeletons, and nut shells. The insights gained from analyzing the changing chemical compositions and structural characteristics, as well as the mechanical properties of these materials, have been applied in developing innovative, durable, and lightweight materials like those used for impact absorption. This research concentrates on the involucres of Job's tears (Coix lacryma-jobi var. lacryma-jobi), which are rich in silica, hard, and serve to encase the seeds. The chemical composition and structural characteristics of involucres were observed using scanning electron microscopy and energy-dispersive x-ray spectroscopy and optical microscopy with safranin staining. The hardness of the outer and inner surfaces of the involucre was measured using the micro-Vickers hardness test, and the Young's modulus of the involucre's cross-section was measured using nanoindentation. Additionally, the breaking behavior of involucres was measured through compression test and three-point bending tests. The results revealed a smooth transition in chemical composition, as well as in the orientation and dimensions of the tissues from the outer to the inner layers of involucres. Furthermore, it was estimated that the spatial gradient of the Young's modulus is due to the gradient of silica deposition. By distributing the hard, brittle silica in the outer layer and elastoplastic organic components in the middle and inner layers, the involucres effectively respond to compressive and tensile stresses that occur when loads are applied to the outside of the involucre. Furthermore, the involucres are reinforced in both meridional and equatorial directions by robust fibrovascular bundles, fibrous bundles, and the inner layer's sclerenchyma fibers. From these factors, it was found that involucres exhibit high toughness against loads from outside, making it less prone to cracking.
Ji Zhou et al 2024 Bioinspir. Biomim. 19 036015
Computational models are used to examine the effect of schooling on flow generated noise from fish swimming using their caudal fins. We simulate the flow as well as the far-field hydrodynamic sound generated by the time-varying pressure loading on these carangiform swimmers. The effect of the number of swimmers in the school, the relative phase of fin flapping of the swimmers, and their spatial arrangement is examined. The simulations indicate that the phase of the fin flapping is a dominant factor in the total sound radiated into the far-field by a group of swimmers. For small schools, a suitable choice of relative phase between the swimmers can significantly reduce the overall intensity of the sound radiated to the far-field. The relative positioning of the swimmers is also shown to have an impact on the total radiated noise. For a larger school, even highly uncorrelated phases of fin movement between the swimmers in the school are very effective in significantly reducing the overall intensity of sound radiated into the far-field. The implications of these findings for fish ethology as well as the design and operation of bioinspired vehicles are discussed.