我要感谢布赖恩Zenowich，丹尼尔Evestedt和Winsean林的技术帮助。

简介有一个不断增长的需求，在所有的人机交互（HMI），直观和高效互动的环境。众多行业继续HMI上，如更多地依赖康复机器人，汽车业，金属制造，包装机械，制药，食品，饮料，和公用事业。在这些行业中的技术包括:显示终端，个人电脑，人机界面软件。这些技术结合在一起，进行无限的职能。 机器人可以使用，以方便用户，如作为一个音乐教师的直接互动。例如，在早稻田大学的研究人员已经创造了一个机器人，播放萨克斯管，教人如何发挥和了解学生和老师1之间的相互作用。其他机器人研究者提出了基于视觉的飞行机器人，以确定如何人工智能可能演变成与环境的智能交互 2 。本文特别集中居住在康复机器人。 在研究和产业领域，为新产品和用户需求的变化快速的步伐继续增长。这些要求，在可伸缩性方面施加更大的挑战。因此代码的设计已经成为不可或缺的，在满足这些实体及时需要。因此，一个强大的建筑候选人质量，将包括容易更换图形机器人系统，包括驱动程序支持。 H3DAPI架构满足这些需求，因此已创建一个包装类。此外，H3D是专为虚拟现实环境，如在康复机器人所需要的那些。 神经康复机器人，旨在利用机器人协助康复专业人员的目的。这些机器人提供的援助是一个力场的形式。通过电机，如Shadmehr和穆萨的Ivaldi，使用武力的领域，以促进电机适应，并已发现1命令研究员）适应外部施加的力场发生动作的不同类别，包括但不限于深远的运动，和2）适应跨越访问外场3同一地区的不同运动推广。从性能基于先进的机器人辅助治疗的生物力学工程师研究显示，重复，任务具体，目标导向，机器人辅助疗法是有效地减少受影响的手臂在中风后4电机障碍的，但确切的治疗效果和参数继续是一个研究领域。 感官反馈，影响学习和适应。因此，下一个合乎逻辑的问题，将要求或不能​​人为地增加这种反馈的幅度是否会促进更快或更完整的学习/适应。一些研究人员发现，运用更大的感官反馈部队或视觉线索，以提高错误，可以提供足够的神经刺激，以促进更高层次的适应/学习5,6。这是被称为"错误隆胸"。这种现象可能是由于这样的事实，电机控制行动的一次成果偏离理想，我们的内部模型进行自我调整根据错误的严重性。因此，作为我们的内部模型方法的外部环境，在执行一个任务跌幅错误。 研究继续支持功能的恢复功能的相关活动的长期实践中，虽然许多现行的医疗政策限制的时间患者的数量，可以花时间与治疗师。引人注目的问题是，这些新技术的应用是否可以进一步去比单纯给予高剂量的当前状态的护理。在运动学习的领域，人机交互的研究发现新的前景，并在某些情况下可以提供附加值的治疗过程。结合电脑显示器的专业机器人设备可以增加错误的反馈，以便加快，增强，或触发运动再学习。本文将目前临床干预作为这项技术的应用，例如一个开发的系统的使用方法。 1。建立一个机器人HAPI包装类<ol><li>创建你自己的。cpp和头文件中创建一个包装HAPI的触觉库。例如，我们将使用的名称HAPIWAM.cpp和HAPIWAM.h。 </li><li>广场HAPIWAM.cpp到源代码目录:HAPI / SRC </li><li>广场HAPIWAM.h的头文件目录:HAPI /包括/ HAPI </li><li>在HAPIWAM.h顶部，包括主头文件（S）你的机器人，在巴雷特的WAM，这将是情况下: </li></ol> &lt;EM&gt;的extern"C"{ ＃包括&lt;include/btwam.h&gt; } ＃包括&lt;HAPI/HAPIHapticsDevice.h&gt; 注意:需要用extern"C"来解决编译器重整，因为库是在"C"的书面和H3DAPI是写在C + +的。 <ol start="5"><li> HAPIWAM.h，创建你的类，包括以下4个功能</li></ol> BOOL initHapticsDevice（INT）; BOOL releaseHapticsDevice（）; 无效updateDeviceValues（DeviceValues ​​和DV，HAPITime DT）; 无效sendOutput（HAPIHapticsDevice::DeviceOutput＆D，HAPITime吨）; <ol start="6"><li>确保你的类继承HAPIhapticsdevice类公开。 </li><li>创建一个为你的类的头后卫。 </li><li>创建静态下的HAPIWAM类和静态HapticsDeviceRegistration DeviceOutput的属性。 </li><li>创建静态成员函数为回调。 </li><li>在HAPIWAM.cpp您定义的构造函数和析构。 </li><li>注册后，在HAPIWAM.cpp您的设备。 </li><li>定义4 HAPIWAM.cpp和继承的函数回调。 </li></ol> 2。 HAPI库建立<ol><li>现在我们已经创建了HAPI包装类，我们需要建立HAPI库到您的包装。 WAM取决​​于一些库，不依赖于在其原始形式H3DAPI，因此，这些库将需要被添加到HAPI。 HAPI / HAPI /建立和编辑CMakeLists.txt。添加行后说，"SET（OptionalLibs）"的依赖库。 </li><li>打开一个命令控制台，并导航到:HAPI / HAPI /建立，并键入以下3个命令，这个命令: </li></ol> CMake的。 sudo的使 须藤使安装 3。 H3D包装类<ol><li>要与您HAPIWAM创建的H3D库的包装类，首先要创建源目录中的WAMDevice.cpp:H3DAPI/src </li><li>广场WAMDevice.h的头文件目录:H3DAPI/include/H3D </li><li> WAMDevice.h应包含的所有H3DAPI设备的标准头文件，以取代任何你想要的名称。 </li><li> WAMDevice.cpp应包含的所有H3DAPI设备的标准源，取代任何你想要的名称。 </li><li>现在已创建包装类，重建H3DAPI库。以同样的方式，在步骤2.1目录下的，由编辑CMakeLists.txt:H3DAPI/build。 </li><li>重建目录下的H3DAPI/build H3DAPI库</li></ol> CMake的。 sudo的使 须藤使安装 4。有限状态机<ol><li>每一个有针对性的深远的​​计划，需要建立一个有限状态机来控制实验的协议或实践制度。典型的状态机包括:启动的试验，发射，目标联系，和试验结束。下面列出的每个状态，功能和标准，国家之间的转移的一个例子。 </li><li>审判的开始需要一个目标的分配。目标位置可任意设置每一次试验，或可从一个文件中设置。一旦用户已经朝着速度阈值，通常是每秒0.06米以上的目标发射试验开始结束。 </li><li>审判开始后发生的发射国。一旦用户触摸目标或目标的一段时间内保持这种状态结束。一旦被触及的目标，这使得目标联系状态。 </li><li>目标联系发生在启动状态。目标是感动或一个特定的时间内的主题后，驻留在目标的，它可能很快结束。一旦这个时候已经过去了，结束审判状态已启用。 </li><li>试用状态的结束信号标记的数据文件的数据采集软件，在任何解析软件开发商使用，划定的每次试验结束。除非已经完成最后的审判，审判状态月底结束，可以开始试用状态。 </li></ol> 5。应用:中风病人康复<ol><li>该机器人的界面设计，同时使用机器人，否则无法完成，使一些涉及治疗师的专业知识。启用该技术的应用程序（在下面详细描述）的错误隆胸，这放大了的病人，为一些众所周知的原因，提高了再学习的过程（图1）感知的错误。 </li><li>一个立体的触觉/图形系统称为虚拟现实的机器人，光学操作机（VRROOM）。以前6，本系统中，提出合并预计立体声，一个半镀银镜与机器人系统，记录手腕位置的叠加显示头跟踪渲染，并产生了力矢量（图2 ）。 </li><li>电影院品质DIgital克里斯蒂幻影3000的DLP投影机（）显示，跨越一个5英尺宽的1280 × 1024像素显示图像，在110 °宽视角。红外发射器同步的液晶显示器（LCD）快门眼镜（Stereographics公司）通过单独的左眼和右眼的图像。阿森松涌向鸟类磁性元件的头部跟踪的议案，让视觉显示适当的头部为中心的观点呈现。 </li><li>为研究对象的资格后，每名参加者的功能能力进行了评估在每次治疗范式的开始和结束一个星期后的跟进每一个整体为期45天的后续评价由盲目的评价者。每个评估包括的运动（ROM）的VRROOM以及临床措施，包括进行评估的范围:箱和块评估，狼运动功能测试（WMFT），ARM Fugl -梅耶（AMFM）电机组，简单的功能距离的评估（ASFR）。 </li><li>利用与手腕夹板exotendon手套，以协助在中立的手腕和手对准。机器人处理中心连接到前臂被安置后腕关节等，其作用在手腕上，但允许在手的运动。 </li><li>使用弹簧动力威尔明顿机器人外骨骼（WREX）重力平衡矫形病人的手臂重量减轻。病人的指示的目标是追逐在他们面前呈现一个光标移动通过跟踪装置在治疗师的手（治疗师遥）。 </li><li>患者实践每周3天，约40-60分钟，与病人，治疗师，并在三人一起工作的机器人。主题和治疗师坐在侧端，主题是连接到机器人手腕处。 </li><li>每次会议开始被动运动锻炼（PROM）的治疗师，约10分钟情境病人在机器的后面，五分钟。这个题目，然后完成六块持续五分钟，每两分钟的休息时间，每块之间的运动培训。 </li><li>在培训期间，与会者观看立体显示的游标。治疗治疗师操纵一个游标，而其他参与者控制。指示患者按照治疗师的光标的确切路径，因为它在整个工作区移动。 </li><li>错误增强提供了视觉和机器人产生的力量。当参与者从治疗师的光标偏离，瞬时误差向量E是建立在治疗师的光标和参与者的手之间的位置差异。错误是视觉上放大了1.5 E（M）错误隆胸的一部分因素。此外，也适用于100 E（N / M）增强力量的错误，这是编程，在一个最大的4个N饱和，出于安全原因。 </li><li>每一个其他的治疗块，包括为每个会话相同的具体化，规范化的议案。其他块允许治疗师在特定的弱点，对治疗师的专业知识和他们的意见为基础的领域，定制的培训。治疗方法包括具体的动作，为所有参与者的做法;，包括远期和侧深远，肩，肘耦合，和对角线达到整个身体。 </li><li>在执业过程​​中，一天到一天的平均误差为测量作为一个实践的结果。给予特别注意的是标准化的议案，为每个会话相同的块。这是前几天相比，以确定是否可以在一天到一天的基础上，可报告给病人，治疗师和护理人员（图3）观察到任何渐进式的改进。 </li><li>每周测量成果的主要措施，在治疗结束后1周，45天，以确定保留的利益。关键成果的Fugl - Meyer运动能力评分和我们定制的ARM达到测试，测量范围内的议案。 </li></ol> 6。代表性的成果: 当该协议是正确完成，那么一旦&lt;AnyDevice&gt;节点加载到H3DViewer或H3DLoad，WAM设备应予以确认并启动。如果WAM与另一个机器人所取代，代码本身不会需要改变。 <img src="/files/ftp_upload/3007/3007fig1.jpg" alt="图1"/> 图1。触觉/图形设备层次的主题。 <img src="/files/ftp_upload/3007/3007fig2.jpg" alt="图2"/> 图2，在触觉/图形设备，物理治疗师层次的主题。 <img src="/files/ftp_upload/3007/3007fig3.jpg" alt="图3"/> 康复Ø配置图3。f的中风病人。 A）在和治疗师一起工作，坐姿和使用大的工作区的触觉/实践运动的图形显示。治疗师提供了一个线索为主题，并可以根据病人的需要调节。机器人提供力量推离目标的肢体和视觉反馈系统，提高了光标的错误。 b）典型的慢性中风患者从日常的改善。每个点代表中位数的测量误差为2分钟的定型功能运动块。当病人出现跨越2个星期内和整体利益的进展，这个人也并不总是提高每一天。

<ol>
	<li>Solis, J., Takeshi, N., Petersen, K., Takeuchi, M., Takanishi, A. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Development+of+the+anthropomorphic+saxophonist+robot+WAS-1:+Mechanical+design+of+the+simulated+organs+and+implementation+of+air+pressure.">Development of the anthropomorphic saxophonist robot WAS-1: Mechanical design of the simulated organs and implementation of air pressure.</a> Advanced Robotics Journal. 24, 629-650 (2010).</li><li>Zufferey, J. C., Floreano, D. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Evolving+Won-Based+Flying+Robots.">Evolving Won-Based Flying Robots.</a> , 592-600 (2002).</li><li>Conditt, M. A., Gandolfo, F., Mussa-Ivaldi, F. A. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=The+motor+system+does+not+learn+the+dynamics+of+the+arm+by+rote+memorization+of+past+experience.">The motor system does not learn the dynamics of the arm by rote memorization of past experience.</a> Journal of Neurophysiology. 78, 554-554 (1997).</li><li>Krebs, H. I., Palazzolo, J. J., Dipietro, L., Ferraro, M., Krol, J., Rannekleiv, K., Volpe, B. T., Hogan, N. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Rehabilitation+robotics:+Performance-based+progressive+robot-assisted+therapy.">Rehabilitation robotics: Performance-based progressive robot-assisted therapy.</a> Autonomous Robots. 15, 7-20 (2003).</li><li>Wei, K., Kording, K. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Relevance+of+error:+what+drives+motor+adaptation.">Relevance of error: what drives motor adaptation.</a> Journal of neurophysiology. 101, 655-65 (2009).</li><li>Wei, Y., Bajaj, P., Scheidt, R., Patton, J. <a target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?db=PubMed&cmd=Search&doptcmdl=Citation&defaultField=Title+Word&term=Visual+error+augmentation+for+enhancing+motor+learning+and+rehabilitative+relearning.">Visual error augmentation for enhancing motor learning and rehabilitative relearning.</a> IEEE International Conference on Rehabilitation Robotics. , 505-510 (2005).</li></ol>

在本教程中的包装类是根据伊恩夏普版权。

这种包装类的实现方法允许使用不同的机器人，在不改变源代码，当使用H3DAPI。具体来说，有H3D写在他们的触觉/图形环境和测试他们的实验中，一个幽灵机器人的研究人员将能够进行相同或类似的实验，使用巴雷特的WAM，反之亦然。这种类型的独立于设备的交叉通讯进行国际康复机器人研究的影响。这种影响有利于触觉/图形的快速发展，国际研究合作，和研究实验室之间沟通。 康复机器人还没有发现在运动学习中所涉及的许多参数。在触觉/图形开发耗时的步骤之一，包括编译时间。随着众多的康复参数，又因每个程序的编译时间，测试所有可能的组排列的开发生命周期的急剧上升。 H3D其编纂要求的情况下，允许众多的虚拟现实场景的快速发展。这是为那些有志于探索各种培训方案的影响的研究人员的优势。 这个"硬编码"的包装类的集成方法的限制，包括必须重复此过程，每次有一个新的H3DAPI分布。融入最新的H3DAPI分布包装类的可能的修改，将分别从H3DAPI创建的包装类。然后，您可以把包装类成*. so库文件。 ，这会从原来的H3DAPI分布隔离你的类。

<ol><li>所谓巴黎的显示（个人增强现实沉浸系统），可以发现<a href="http://www.evl.uic.edu">在</a> www.evl.uic.edu </li><li>灰色大机器人是巴雷特的WAM: <a href="http://www.barrett.com">www.barrett.com</a> </li><li>较小的，瘦黑的机器人是幻影<a href="http://www.sensable.com">:</a> www.sensable.com </li><li>手臂支架，在RIC的开发的T - WREX: <a href="http://www.ric.org/research/centers/mars2/Projects/development/d3.aspx">http://www.ric.org/research/centers/mars2/Projects/development/d3.aspx</a> </li><li>三维视觉的快门眼镜: <a href="http://www.vrlogic.com">www.vrlogic.com</a> </li><li>头部跟踪软件。 <a href="http://www.mechdyne.com">www.mechdyne.com</a> </li><li> H3DAPI本身: <a href="http://www.h3dapi.org">www.h3dapi.org</a> </li></ol>

haptic/graphic rehabilitation: integrating a robot into a virtual environment library and applying it to stroke therapy

最近的研究，以测试长期的治疗实践的互动装置，揭示了新的前景，图形和其他形式的生物反馈相结合的机器人。前人类与机器人的交互系统都需要不同的软件命令，将导致不必要的发展开销时间，每次一个新的系统可用为每个机器人实施。例如，当一个触觉/图形虚拟现实环境已经由一个特定的机器人提供触觉反馈编码，具体的机器人将不能够被另一个机器人的交易而无需重新编写程序。然而，最近在开源社区的努力，提出了一个包装类的方法，可几乎相同的反应，无论所使用的机器人引起。其结果可能导致世界各地的研究人员进行类似的实验，使用共享代码。因此，模块化的"开关"的另一个机器人会不会影响开发时间。在本文中，我们介绍到H3DAPI开放源码，它集成了最常用的所有机器人的软件命令一个机器人和实施的成功创造了一个包装类。

Watch this Scientific Journal Video about Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy at JoVE.com

Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy

最近，大量的前景，为人类与机器人互动系统。在本文中，我们勾勒出一个新的开源软件，可以迅速使可能的互动功能库的机械手设备的集成。然后，我们勾勒出一个神经康复应用的临床应用。

触觉/图形康复:整合成一个虚拟的环境下图书馆的机器人，它应用于中风治疗

Recent research that tests interactive devices for prolonged therapy practice has revealed new prospects for robotics combined with graphical and other ...

hapticgraphic-rehabilitation-integrating-robot-into-virtual

Universidad San Sebastian

Research

JoVE Journal

Bioengineering

13.7K 次观看.  University of Illinois at Chicago and Rehabilitation Institute of Chicago. 最近，大量的前景，为人类与机器人互动系统。在本文中，我们勾勒出一个新的开源软件，可以迅速使可能的互动功能库的机械手设备的集成。然后，我们勾勒出一个神经康复应用的临床应用。

视频: Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy

Design of a Cyclic Pressure Bioreactor for the Ex Vivo Study of Aortic Heart Valves

The aortic valve, located between the left ventricle and the aorta, allows for unidirectional blood flow, preventing backflow into the ventricle. Aortic valve leaflets are composed of interstitial cells suspended within an extracellular matrix (ECM) and are lined with an endothelial cell monolayer. The valve withstands a harsh, dynamic environment and is constantly exposed to shear, flexion, tension, and compression. Research has shown calcific lesions in diseased valves occur in areas of high mechanical stress as a result of endothelial disruption or interstitial matrix damage1-3. Hence, it is not surprising that epidemiological studies have shown high blood pressure to be a leading risk factor in the onset of aortic valve disease4. 
The only treatment option currently available for valve disease is surgical replacement of the diseased valve with a bioprosthetic or mechanical valve5. Improved understanding of valve biology in response to physical stresses would help elucidate the mechanisms of valve pathogenesis. In turn, this could help in the development of non-invasive therapies such as pharmaceutical intervention or prevention. Several bioreactors have been previously developed to study the mechanobiology of native or engineered heart valves6-9. Pulsatile bioreactors have also been developed to study a range of tissues including cartilage10, bone11 and bladder12. The aim of this work was to develop a cyclic pressure system that could be used to elucidate the biological response of aortic valve leaflets to increased pressure loads. 
The system consisted of an acrylic chamber in which to place samples and produce cyclic pressure, viton diaphragm solenoid valves to control the timing of the pressure cycle, and a computer to control electrical devices. The pressure was monitored using a pressure transducer, and the signal was conditioned using a load cell conditioner. A LabVIEW program regulated the pressure using an analog device to pump compressed air into the system at the appropriate rate. The system mimicked the dynamic transvalvular pressure levels associated with the aortic valve; a saw tooth wave produced a gradual increase in pressure, typical of the transvalvular pressure gradient that is present across the valve during diastole, followed by a sharp pressure drop depicting valve opening in systole. The LabVIEW program allowed users to control the magnitude and frequency of cyclic pressure. The system was able to subject tissue samples to physiological and pathological pressure conditions. This device can be used to increase our understanding of how heart valves respond to changes in the local mechanical environment.

Design of a Cyclic Pressure Bioreactor for the Ex Vivo Study of Aortic Heart Valves

A cyclic pressure bioreactor capable of subjecting heart valve tissue to physiological and pathological pressure conditions has been designed. A LabVIEW program allows users to control pressure magnitude, amplitude and frequency. This device can be used to study the mechanobiology of heart valve tissue or isolated cells.

循环压力为生物反应器的设计体外主动脉心脏瓣膜的研究

The aortic valve, located between the left ventricle and the aorta, allows for unidirectional blood flow, preventing backflow into the ventricle. Aortic ...

科研

生物工程

Adaptation of a Haptic Robot in a 3T fMRI

Functional magnetic resonance imaging (fMRI) provides excellent functional brain imaging via the BOLD signal 1 with advantages including non-ionizing radiation, millimeter spatial accuracy of anatomical and functional data 2, and nearly real-time analyses 3. Haptic robots provide precise measurement and control of position and force of a cursor in a reasonably confined space. Here we combine these two technologies to allow precision experiments involving motor control with haptic/tactile environment interaction such as reaching or grasping. The basic idea is to attach an 8 foot end effecter supported in the center to the robot 4 allowing the subject to use the robot, but shielding it and keeping it out of the most extreme part of the magnetic field from the fMRI machine (Figure 1).
The Phantom Premium 3.0, 6DoF, high-force robot (SensAble Technologies, Inc.) is an excellent choice for providing force-feedback in virtual reality experiments 5, 6, but it is inherently non-MR safe, introduces significant noise to the sensitive fMRI equipment, and its electric motors may be affected by the fMRI's strongly varying magnetic field. We have constructed a table and shielding system that allows the robot to be safely introduced into the fMRI environment and limits both the degradation of the fMRI signal by the electrically noisy motors and the degradation of the electric motor performance by the strongly varying magnetic field of the fMRI. With the shield, the signal to noise ratio (SNR: mean signal/noise standard deviation) of the fMRI goes from a baseline of &tilde;380 to &tilde;330, and &tilde;250 without the shielding. The remaining noise appears to be uncorrelated and does not add artifacts to the fMRI of a test sphere (Figure 2). The long, stiff handle allows placement of the robot out of range of the most strongly varying parts of the magnetic field so there is no significant effect of the fMRI on the robot. The effect of the handle on the robot's kinematics is minimal since it is lightweight (&tilde;2.6 lbs) but extremely stiff 3/4" graphite and well balanced on the 3DoF joint in the middle. The end result is an fMRI compatible, haptic system with about 1 cubic foot of working space, and, when combined with virtual reality, it allows for a new set of experiments to be performed in the fMRI environment including naturalistic reaching, passive displacement of the limb and haptic perception, adaptation learning in varying force fields, or texture identification 5, 6.

The adaptation and use of a haptic robot in a 3T fMRI is described.

触觉机器人适应在3T功能磁共振成像

Functional magnetic resonance imaging (fMRI) provides excellent functional brain imaging via the BOLD signal 1 with advantages including non-ionizing ...

Designing a Bio-responsive Robot from DNA Origami

Nucleic acids are astonishingly versatile. In addition to their natural role as storage medium for biological information1, they can be utilized in parallel computing2,3 , recognize and bind molecular or cellular targets4,5 , catalyze chemical reactions6,7 , and generate calculated responses in a biological system8,9. Importantly, nucleic acids can be programmed to self-assemble into 2D and 3D structures10-12, enabling the integration of all these remarkable features in a single robot linking the sensing of biological cues to a preset response in order to exert a desired effect.
Creating shapes from nucleic acids was first proposed by Seeman13, and several variations on this theme have since been realized using various techniques11,12,14,15 . However, the most significant is perhaps the one proposed by Rothemund, termed scaffolded DNA origami16. In this technique, the folding of a long (&gt;7,000 bases) single-stranded DNA 'scaffold' is directed to a desired shape by hundreds of short complementary strands termed 'staples'. Folding is carried out by temperature annealing ramp. This technique was successfully demonstrated in the creation of a diverse array of 2D shapes with remarkable precision and robustness. DNA origami was later extended to 3D as well17,18 .
 
The current paper will focus on the caDNAno 2.0 software19 developed by Douglas and colleagues. caDNAno is a robust, user-friendly CAD tool enabling the design of 2D and 3D DNA origami shapes with versatile features. The design process relies on a systematic and accurate abstraction scheme for DNA structures, making it relatively straightforward and efficient.
In this paper we demonstrate the design of a DNA origami nanorobot that has been recently described20. This robot is 'robotic' in the sense that it links sensing to actuation, in order to perform a task. We explain how various sensing schemes can be integrated into the structure, and how this can be relayed to a desired effect. Finally we use Cando21 to simulate the mechanical properties of the designed shape. The concept we discuss can be adapted to multiple tasks and settings.

DNA origami is a powerful method for fabricating precise nanoscale objects by programming the self-assembly of DNA molecules. Here, we describe how DNA origami can be utilized to design a robotic robot capable of sensing biological cues and responding by shape shifting, subsequently relayed to a desired effect.

DNA折纸设计生物反应灵敏的机器人

Nucleic acids are astonishingly versatile. In addition to their natural role as storage medium for biological information1, they can be utilized in ...

A Method for Evaluating Timeliness and Accuracy of Volitional Motor Responses to Vibrotactile Stimuli

Artificial sensory feedback (ASF) systems can be used to compensate for lost proprioception in individuals with lower-limb impairments. Effective design of these ASF systems requires an in-depth understanding of how the parameters of specific feedback mechanism affect user perception and reaction to stimuli. This article presents a method for applying vibrotactile stimuli to human participants and measuring their response. Rotating mass vibratory motors are placed at pre-defined locations on the participant's thigh, and controlled through custom hardware and software. The speed and accuracy of participants' volitional responses to vibrotactile stimuli are measured for researcher-specified combinations of motor placement and vibration frequency. While the protocol described here uses push-buttons to collect a simple binary response to the vibrotactile stimuli, the technique can be extended to other response mechanisms using inertial measurement units or pressure sensors to measure joint angle and weight bearing ratios, respectively. Similarly, the application of vibrotactile stimuli can be explored for body segments other than the thigh.

This article describes a technique for applying vibrotactile stimuli to the thigh of a human participant, and measuring the accuracy and reaction time of the participant&#39;s volitional response for various combinations of stimulation location and frequency.

一种意志的运动反应的及时性和准确性，以振动触觉刺激评价方法

Artificial sensory feedback (ASF) systems can be used to compensate for lost proprioception in individuals with lower-limb impairments.  Effective design ...

Using Extraordinary Optical Transmission to Quantify Cardiac Biomarkers in Human Serum

For a biosensing platform to have clinical relevance in point-of-care (POC) settings, assay sensitivity, reproducibility, and ability to reliably monitor analytes against the background of human serum are crucial.
Nanoimprinting lithography (NIL) was used to fabricate, at a low cost, sensing areas as large as 1.5 mm x 1.5 mm. The sensing surface was made of high-fidelity arrays of nanoholes, each with an area of about 140 nm2. The great reproducibility of NIL made it possible to employ a one-chip, one-measurement strategy on 12 individually manufactured surfaces, with minimal chip-to-chip variation. These nanoimprinted localized surface plasmon resonance (LSPR) chips were extensively tested on their ability to reliably measure a bioanalyte at concentrations varying from 2.5 to 75 ng/mL amidst the background of a complex biofluid-in this case, human serum. The high fidelity of NIL enables the generation of large sensing areas, which in turn eliminates the need for a microscope, as this biosensor can be easily interfaced with a commonly available laboratory light source. These biosensors can detect cardiac troponin in serum with a high sensitivity, at a limit of detection (LOD) of 0.55 ng/mL, which is clinically relevant. They also show low chip-to-chip variance (due to the high quality of the fabrication process). The results are commensurable with widely used enzyme-linked immunosorbent assay (ELISA)-based assays, but the technique retains the advantages of an LSPR-based sensing platform (i.e., amenability to miniaturization and multiplexing, making it more feasible for POC applications).

This work describes a nanoimprinting lithography method to fabricate high-quality sensing arrays that work on the principle of extraordinary optical transmission. The biosensor is low-cost, robust, easy to use, and can detect cardiac troponin I in serum at clinically relevant concentrations (99th percentile cutoff &#8764;10-400 pg/mL, depending on the assay).

用超常光透射法定量测定人血清中的心脏标志物

For a biosensing platform to have clinical relevance in point-of-care (POC) settings, assay sensitivity, reproducibility, and ability to reliably monitor ...

DNA Nanotubes as a Versatile Tool to Study Semiflexible Polymers

Mechanical properties of complex, polymer-based soft matter, such as cells or biopolymer networks, can be understood in neither the classical frame of flexible polymers nor of rigid rods. Underlying filaments remain outstretched due to their non-vanishing backbone stiffness, which is quantified via the persistence length (lp), but they are also subject to strong thermal fluctuations. Their finite bending stiffness leads to unique, non-trivial collective mechanics of bulk networks, enabling the formation of stable scaffolds at low volume fractions while providing large mesh sizes. This underlying principle is prevalent in nature (e.g., in cells or tissues), minimizing the high molecular content and thereby facilitating diffusive or active transport. Due to their biological implications and potential technological applications in biocompatible hydrogels, semiflexible polymers have been subject to considerable study. However, comprehensible investigations remained challenging since they relied on natural polymers, such as actin filaments, which are not freely tunable. Despite these limitations and due to the lack of synthetic, mechanically tunable, and semiflexible polymers, actin filaments were established as the common model system. A major limitation is that the central quantity lp cannot be freely tuned to study its impact on macroscopic bulk structures. This limitation was resolved by employing structurally programmable DNA nanotubes, enabling controlled alteration of the filament stiffness. They are formed through tile-based designs, where a discrete set of partially complementary strands hybridize in a ring structure with a discrete circumference. These rings feature sticky ends, enabling the effective polymerization into filaments several microns in length, and display similar polymerization kinetics as natural biopolymers. Due to their programmable mechanics, these tubes are versatile, novel tools to study the impact of lp on the single-molecule as well as the bulk scale. In contrast to actin filaments, they remain stable over weeks, without notable degeneration, and their handling is comparably straightforward.

Semiflexible polymers display unique mechanical properties that are extensively applied by living systems. However, systematic studies on biopolymers are limited since properties such as polymer rigidity are inaccessible. This manuscript describes how this limitation is circumvented by programmable DNA nanotubes, enabling experimental studies on the impact of filament rigidity.

DNA 纳米管作为研究半聚合物的万能工具

Mechanical properties of complex, polymer-based soft matter, such as cells or biopolymer networks, can be understood in neither the classical frame of ...

Optimizing the Use of a Liquid Handling Robot to Conduct a High Throughput Forward Chemical Genetics Screen of Arabidopsis thaliana

Chemical genetics is increasingly being employed to decode traits in plants that may be recalcitrant to traditional genetics due to gene redundancy or lethality. However, the probability of a synthetic small molecule being bioactive is low; therefore, thousands of molecules must be tested in order to find those of interest. Liquid handling robotics systems are designed to handle large numbers of samples, increasing the speed with which a chemical library can be screened in addition to minimizing/standardizing error. To achieve a high-throughput forward chemical genetics screen of a library of 50,000 small molecules on Arabidopsis thaliana (Arabidopsis), protocols using a bench-top multichannel liquid handling robot were developed that require minimal technician involvement. With these protocols, 3,271 small molecules were discovered that caused visible phenotypic alterations. 1,563 compounds induced short roots, 1,148 compounds altered coloration, 383 compounds caused root hair and other, non-categorized, alterations, and 177 compounds inhibited germination.

Optimizing the Use of a Liquid Handling Robot to Conduct a High Throughput Forward Chemical Genetics Screen of Arabidopsis thaliana

A high throughput screen of synthetic small molecules was conducted on the model plant species, Arabidopsis thaliana. This protocol, developed for a liquid handling robot, increases the speed of forward chemical genetics screens, accelerating the discovery of novel small molecules affecting plant physiology.

优化液体搬运机器人对拟南芥进行高通量前化学遗传学筛选的应用

Chemical genetics is increasingly being employed to decode traits in plants that may be recalcitrant to traditional genetics due to gene redundancy or ...

Three-dimensional Patterning of Engineered Biofilms with a Do-it-yourself Bioprinter

Biofilms are aggregates of bacteria embedded in a self-produced spatially-patterned extracellular matrix. Bacteria within a biofilm develop enhanced antibiotic resistance, which poses potential health dangers, but can also be beneficial for environmental applications such as purification of drinking water. The further development of anti-bacterial therapeutics and biofilm-inspired applications will require the development of reproducible, engineerable methods for biofilm creation. Recently, a novel method of biofilm preparation using a modified three-dimensional (3D) printer with a bacterial ink has been developed. This article describes the steps necessary to build this efficient, low-cost 3D bioprinter that offers multiple applications in bacterially-induced materials processing. The protocol begins with an adapted commercial 3D printer in which the extruder has been replaced with a bio-ink dispenser connected to a syringe pump system enabling a controllable, continuous flow of bio-ink. To develop a bio-ink suitable for biofilm printing, engineered Escherichia coli bacteria were suspended in a solution of alginate, so that they solidify in contact with a surface containing calcium. The inclusion of an inducer chemical within the printing substrate drives expression of biofilm proteins within the printed bio-ink. This method enables 3D printing of various spatial patterns composed of discrete layers of printed biofilms. Such spatially-controlled biofilms can serve as model systems and can find applications in multiple fields that have a wide-ranging impact on society, including antibiotic resistance prevention or drinking water purification, among others.

This article describes a method of transforming a low-cost commercial 3D printer into a bacterial 3D printer that can facilitate printing of patterned biofilms. All necessary aspects of preparing the bioprinter and bio-ink are described, as well as verification methods to assess the formation of biofilms.

工程生物膜的三维造型

Biofilms are aggregates of bacteria embedded in a self-produced spatially-patterned extracellular matrix. Bacteria within a biofilm develop enhanced ...

Isokinetic Robotic Device to Improve Test-Retest and Inter-Rater Reliability for Stretch Reflex Measurements in Stroke Patients with Spasticity

Measuring spasticity is important in treatment planning and determining efficacy after treatment. However, the current tool used in clinical settings has been shown to be limited in inter-rater reliability. One factor in this poor inter-rater reliability is the variability of passive motion while measuring the angle of catch (AoC) measurements. Therefore, an isokinetic device has been proposed to standardize the manual joint motion; however, the benefits of isokinetic motion for AoC measurements has not been tested in a standardized manner. This protocol investigates whether isokinetic motion itself can improve inter-rater reliability for AoC measurements. For this purpose, a robotic isokinetic device was developed that is combined with surface electromyography (EMG). Two conditions, manual and isokinetic motions, are compared with the standardized method to measure the angle and subjective feeling of catch. It is shown that in 17 stroke patients with mild elbow flexor spasticity, isokinetic motion improved the intraclass correlation coefficient (ICC) for inter-rater reliability of AoC measurements to 0.890 [95% confidence interval (CI): 0.685&#8211;0.961] by the EMG criteria, and 0.931 (95% CI: 0.791&#8211;0.978) by the torque criteria, from 0.788 (95% CI: 0.493&#8211;0.920) by manual motion. In conclusion, isokinetic motion itself can improve inter-rater reliability of AoC measurements in stroke patients with mild spasticity. Given that this system may provide greater standardized angle measurements and catch of feeling, it may be a good option for the evaluation of spasticity in a clinical setting.

Using a robotic isokinetic device with electromyography (EMG) measurements, this protocol illustrates that isokinetic motion itself can improve inter-rater reliability for the angle of catch measurements in stroke patients with mild elbow flexor spasticity.

等动机器人设备,用于提高中风患者在痉挛性中拉伸反射测量的测试再测试和间反应的可靠性

Measuring spasticity is important in treatment planning and determining efficacy after treatment. However, the current tool used in clinical settings has ...

用于组合插头生产的微流体装置的设置

Bilayer Microfluidic Device for Combinatorial Plug Production

Droplet microfluidics is a versatile tool that allows the execution of a large number of reactions in chemically distinct nanoliter compartments. Such systems have been used to encapsulate a variety of biochemical reactions - from incubation of single cells to implementation of PCR reactions, from genomics to chemical synthesis. Coupling the microfluidic channels with regulatory valves allows control over their opening and closing, thereby enabling the rapid production of large-scale combinatorial libraries consisting of a population of droplets with unique compositions. In this paper, protocols for the fabrication and operation of a pressure-driven, PDMS-based bilayer microfluidic device that can be utilized to generate combinatorial libraries of water-in-oil emulsions called plugs are presented. By incorporating software programs and microfluidic hardware, the flow of desired fluids in the device can be controlled and manipulated to generate combinatorial plug libraries and to control the composition and quantity of constituent plug populations. These protocols will expedite the process of generating combinatorial screens, particularly to study drug response in cells from cancer patient biopsies.

作者聚焦：在精准肿瘤学中整合计算和实验方法

The fabrication of a polydimethylsiloxane (PDMS)-based bilayer device for the production of combinatorial libraries in water-in-oil emulsions (plugs) is presented here. The necessary hardware and software required to automate plug production are detailed in the protocol, and the production of a quantitative library of fluorescent plugs is also demonstrated.

用于组合塞生产的双层微流控装置

Droplet microfluidics is a versatile tool that allows the execution of a large number of reactions in chemically distinct nanoliter compartments. Such ...