Tensegrity

Spherical movable tensegrity robots, resorting to the intrinsic hallmark of being lightweight and resilient, have exhibited tremendous potential in exploring unpredictable terrains and extreme environments where traditional robots often struggle. The geometry of spherical tensegrities is suitable for rolling locomotion, which guarantees the system to react to changing demands, navigate unexplored terrain, and perform missions even after suffering massive damage. The objective of this article is to enrich the type of spherical movable tensegrity robots with multiple kinematic gait patterns and to gain superior motion paths that are in conformity with the intrinsic features of structural rolling locomotion...

The paper builds on (von Fircks, E. Integr. psych. Behav. Sci. 2023) article on mindfulness meditation analysed in a Meadian perspective. First, the selective appropriation of some concepts by hegemonic psychology is critically discussed. Then, the consequences of adopting the whole philosophical system of Eastern perspectives are envisaged. Finally, a proposal for a truly ecological shift in the study of self is proposed.

To solve the non-uniformity of stress in space membrane structure and the lack of shear compliant border configuration design method, shear compliant borders are designed, optimized, and verified in terms of configuration. Firstly, an orthotropic model of the borders is built by combining Hill and Christensen-Lo composite material models. Secondly, a finite element form-finding method is put forward by establishing rectangular and cylindrical coordinates in different areas. The configuration of borders is obtained and the influence of the borders on the edge of the membrane is 0...

Near-concentric cavities are excellent tools for enhancing an atom-light interaction as they combine a small mode volume with a large optical access for atom manipulation. However, they are sensitive to longitudinal and transverse misalignments. To address this sensitivity, we present a compact near-concentric optical cavity system with a residual cavity length variation δLC,rms = 0.36(2) Å. A key part of this system is a cage-like tensegrity mirror support structure that allows us to correct for longitudinal and transverse misalignments...

Tensegrity structure is composed of tensile cables and compressive rods, offering high stiffness-to-mass ratio, deploy ability and excellent energy damping capability. The active and dynamic tensegrity designs demonstrate great potential for soft robots. In previous designs, the movement relied on carefully controlled input power or manually controlled light irradiation, limiting their potential applications. In this work, a hybrid tensegrity structure (HTS) is constructed by integrating thermally responsive cables, non-responsive cables and stiff rods...

BACKGROUND: Vertebral compression fractures (VCFs) can affect the entire spinopelvic complex and cause unpredictable patterns of back pain due to their effects on spinal tensegrity and biomechanical compensation. They can lead to significant morbidity and mortality in the aging population and are difficult to diagnose. We aimed to establish a relationship between VCFs and sacroiliac (SI) joint pain. OBJECTIVES: Demonstration of SI joint (SIJ) pain relief at up to 6 months after kyphoplasty (KP) in patients with VCFs and diagnosed SI dysfunction...

Intermolecular interactions are critical to the crystallization of biomolecules, yet the precise control of biomolecular crystal growth based on these interactions remains elusive. To understand the connections between the crystallization kinetics and the strength of intermolecular interactions, herein we have employed DNA triangular crystals and modified ones as a versatile tool to investigate how the strength of intermolecular interaction affects crystal growth. Interestingly, we have found that the 2'-O-methylation at sticky ends of the DNA triangle could strengthen its intermolecular interaction, resulting in the accelerated formation of smaller crystals...

This study proposed two kinds of tensegrity hopping robots, which were actuated by push-pull electromagnets and servo motors, respectively. Both tensegrity robots are able to conduct stable and consecutive hopping actions. This paper covers the robots' structural designs, theoretical modeling of the hopping actuators, and detailed analysis of the robot's self-righting properties, all of which are validated by corresponding experimental and simulational results. The first hopping robot could hop forward at an average speed of 0...

Self-assembled DNA crystals offer a precise chemical platform at the ångström-scale for DNA nanotechnology, holding enormous potential in material separation, catalysis, and DNA data storage. However, accurately controlling the crystallization kinetics of such DNA crystals remains challenging. Herein, we found that atomic-level 5-methylcytosine (5mC) modification can regulate the crystallization kinetics of DNA crystal by tuning the hybridization rates of DNA motifs. We discovered that by manipulating the axial and combination of 5mC modification on the sticky ends of DNA tensegrity triangle motifs, we can obtain a series of DNA crystals with controllable morphological features...

The kinetic chain refers to the body's intricate coordination of various segments to perform a specific activity involving precise positioning, timing, and speed. This process is based on task-oriented and activity-specific pre-programmed muscle activation patterns enhanced by repeated practice. It demands muscular eccentric strength, joint flexibility, and musculotendinous elastic energy storage. The body core (lumbopelvic-hip complex) forms the kinetic chains' central point of activities in most sports because it facilitates load transfers to and from the limbs...

This article presents a novel technique for a class 2 tensegrity robot, also classified as a soft robot, to increase workspace by increasing the number of geometric equilibrium configurations of the robot. The proposed modification, unlike the strategies reported in the literature, consists of increasing the number of points where the flexible and rigid elements that make up the robot come into contact without the need to increase the number of actuators, the number of flexible elements, or modify the geometry of the rigid elements...

Malignant mesothelioma is a type of cancer that affects the mesothelium. It is an aggressive and deadly form of cancer that is often caused by exposure to asbestos. At the molecular level, it is characterized by a low number of genetic mutations and high heterogeneity among patients. In this work, we analyzed the plasticity of gene expression of primary mesothelial cancer cells by comparing their properties on 2D versus 3D surfaces. First, we derived from primary human samples four independent primary cancer cells...

The Foundation of Osteopathic Research and Clinical Endorsement (FORCE) is an organization that includes various figures involved in clinical and non-profit research and does not depend on any private or government body. To better understand how the human body behaves, we need to observe cellular behavior. Considering the human body as layers, districts, and regions, or just as a machine, is severely limiting to understanding the systemic mechanisms that are implemented to maintain bodily health. For some years, FORCE has contributed several articles to the literature to support the view of a human body as a unit, a fascial continuum (solid and fluid fascia) capable of interacting consciously, and not as a passive mirror, with respect to external stresses...

Cell's shape is dependent on the cytoskeleton mechanical properties. Hybrid models were developed that combine the discrete structure for the cytoskeleton and continuum parts for other cell organelles. Tensegrity-based structures that consist of tensile and compression elements are useful models to understand the cytoskeleton mechanical behavior. In this study, we are looking to examine the reaction of the cell to a variety of substrate stiffnesses and explain the relationship between cell behavior and substrate mechanical properties...

Biological fish exhibit remarkable adaptability and exceptional swimming performance through their powerful and flexible bodies. Therefore, designing a continuum flexible body is significantly important for the development of a robotic fish. However, it is still challenging to replicate these functions of a biological body due to the limitations of actuation and material. In this paper, based on a tensegrity structure, we propose a bionic design scheme for a continuum robotic fish body with a property of stiffness variation...

A bionic robotic fish based on compliant structure can excite the natural modes of vibration, thereby mimicking the body waves of real fish to generate thrust and realize undulate propulsion. The fish body wave is a result of the fish body's mechanical characteristics interacting with the surrounding fluid. Thoroughly analyzing the complex modal characteristics in such robotic fish contributes to a better understanding of the locomotion behavior, consequently enhancing the swimming performance. Therefore, the complex orthogonal decomposition (COD) method is used in this article...

Electro-active ionic soft actuators have been intensively investigated as an artificial muscle for soft robotics due to their large bending deformations at low voltages, small electric power consumption, superior energy density, high safety and biomimetic self-sensing actuation. However, their slow responses, poor durability and low bandwidth, mainly resulting from improper distribution of ionic conducting phase in polyelectrolyte membranes, hinder practical applications to real fields. We report a procedure to synthesize efficient polyelectrolyte membranes that have continuous conducting network suitable for electro-ionic artificial muscles...

Both diastolic filling and systolic pumping of the heart are dependent on the passive stiffness characteristics of various mechanical elements of myocardium. However, the specific contribution from each element, including the extracellular matrix, actin filaments, microtubules, desmin intermediate filaments, and sarcomeric titin springs, remains challenging to assess. Recently, a mouse model allowing for precise and acute cleavage of the titin springs was used to remove one mechanical element after the other from cardiac fibers and record the effect on passive stiffness...

Functional structures from across the engineered and biological world combine rigid elements such as bones and columns with flexible ones such as cables, fibers, and membranes. These structures are known loosely as tensegrities, since these cable-like elements have the highly nonlinear property of supporting only extensile tension. Marginally rigid systems are of particular interest because the number of structural constraints permits both flexible deformation and the support of external loads. We present a model system in which tensegrity elements are added at random to a regular backbone...

Birds are so stable that they can rest and even sleep standing up. We propose that stable static balance is achieved by tensegrity. The rigid bones can be held together by tension in the tendons, allowing the system to stabilize under the action of gravity. We used the proportions of the bird's osteomuscular system to create a mathematical model. First, the extensor muscles and tendons of the leg are replaced by a single cable that follows the leg and is guided by joint pulleys. Analysis of the model shows that it can achieve balance...