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2019


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A Learnable Safety Measure

Heim, S., Rohr, A. V., Trimpe, S., Badri-Spröwitz, A.

Conference on Robot Learning, November 2019 (conference) Accepted

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Arxiv [BibTex]

2019


Arxiv [BibTex]


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Trunk Pitch Oscillations for Joint Load Redistribution in Humans and Humanoid Robots

Drama, Ö., Badri-Spröwitz, A.

Proceedings International Conference on Humanoid Robots, Humanoids, September 2019 (conference) Accepted

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link (url) [BibTex]

link (url) [BibTex]


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Series Elastic Behavior of Biarticular Muscle-Tendon Structure in a Robotic Leg

Ruppert, F., Badri-Spröwitz, A.

Frontiers in Neurorobotics, 64, pages: 13, 13, August 2019 (article)

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Frontiers YouTube link (url) DOI [BibTex]

Frontiers YouTube link (url) DOI [BibTex]


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The positive side of damping

Heim, S., Millard, M., Le Mouel, C., Sproewitz, A.

Proceedings of AMAM, The 9th International Symposium on Adaptive Motion of Animals and Machines, August 2019 (conference) Accepted

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[BibTex]

[BibTex]


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Beyond Basins of Attraction: Quantifying Robustness of Natural Dynamics

Steve Heim, , Spröwitz, A.

IEEE Transactions on Robotics (T-RO) , 35(4), pages: 939-952, August 2019 (article)

Abstract
Properly designing a system to exhibit favorable natural dynamics can greatly simplify designing or learning the control policy. However, it is still unclear what constitutes favorable natural dynamics and how to quantify its effect. Most studies of simple walking and running models have focused on the basins of attraction of passive limit cycles and the notion of self-stability. We instead emphasize the importance of stepping beyond basins of attraction. In this paper, we show an approach based on viability theory to quantify robust sets in state-action space. These sets are valid for the family of all robust control policies, which allows us to quantify the robustness inherent to the natural dynamics before designing the control policy or specifying a control objective. We illustrate our formulation using spring-mass models, simple low-dimensional models of running systems. We then show an example application by optimizing robustness of a simulated planar monoped, using a gradient-free optimization scheme. Both case studies result in a nonlinear effective stiffness providing more robustness.

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arXiv preprint arXiv:1806.08081 T-RO link (url) DOI Project Page [BibTex]

arXiv preprint arXiv:1806.08081 T-RO link (url) DOI Project Page [BibTex]


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Elastic modulus affects adhesive strength of gecko-inspired synthetics in variable temperature and humidity

Mitchell, CT, Drotlef, D, Dayan, CB, Sitti, M, Stark, AY

In INTEGRATIVE AND COMPARATIVE BIOLOGY, pages: E372-E372, OXFORD UNIV PRESS INC JOURNALS DEPT, 2001 EVANS RD, CARY, NC 27513 USA, March 2019 (inproceedings)

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[BibTex]

[BibTex]


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X-ray Optics Fabrication Using Unorthodox Approaches

Sanli, U., Baluktsian, M., Ceylan, H., Sitti, M., Weigand, M., Schütz, G., Keskinbora, K.

Bulletin of the American Physical Society, APS, 2019 (article)

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[BibTex]

[BibTex]


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Microrobotics and Microorganisms: Biohybrid Autonomous Cellular Robots

Alapan, Y., Yasa, O., Yigit, B., Yasa, I. C., Erkoc, P., Sitti, M.

Annual Review of Control, Robotics, and Autonomous Systems, 2019 (article)

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[BibTex]

[BibTex]


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Tailored Magnetic Springs for Shape-Memory Alloy Actuated Mechanisms in Miniature Robots

Woodward, M. A., Sitti, M.

IEEE Transactions on Robotics, 35, 2019 (article)

Abstract
Animals can incorporate large numbers of actuators because of the characteristics of muscles; whereas, robots cannot, as typical motors tend to be large, heavy, and inefficient. However, shape-memory alloys (SMA), materials that contract during heating because of change in their crystal structure, provide another option. SMA, though, is unidirectional and therefore requires an additional force to reset (extend) the actuator, which is typically provided by springs or antagonistic actuation. These strategies, however, tend to limit the actuator's work output and functionality as their force-displacement relationships typically produce increasing resistive force with limited variability. In contrast, magnetic springs-composed of permanent magnets, where the interaction force between magnets mimics a spring force-have much more variable force-displacement relationships and scale well with SMA. However, as of yet, no method for designing magnetic springs for SMA-actuators has been demonstrated. Therefore, in this paper, we present a new methodology to tailor magnetic springs to the characteristics of these actuators, with experimental results both for the device and robot-integrated SMA-actuators. We found magnetic building blocks, based on sets of permanent magnets, which are well-suited to SMAs and have the potential to incorporate features such as holding force, state transitioning, friction minimization, auto-alignment, and self-mounting. We show magnetic springs that vary by more than 3 N in 750 $\mu$m and two SMA-actuated devices that allow the MultiMo-Bat to reach heights of up to 4.5 m without, and 3.6 m with, integrated gliding airfoils. Our results demonstrate the potential of this methodology to add previously impossible functionality to smart material actuators. We anticipate this methodology will inspire broader consideration of the use of magnetic springs in miniature robots and further study of the potential of tailored magnetic springs throughout mechanical systems.

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DOI [BibTex]


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Magnetically Actuated Soft Capsule Endoscope for Fine-Needle Biopsy

Son, D., Gilbert, H., Sitti, M.

Soft robotics, Mary Ann Liebert, Inc., publishers 140 Huguenot Street, 3rd Floor New …, 2019 (article)

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[BibTex]

[BibTex]


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Thrust and Hydrodynamic Efficiency of the Bundled Flagella

Danis, U., Rasooli, R., Chen, C., Dur, O., Sitti, M., Pekkan, K.

Micromachines, 10, 2019 (article)

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[BibTex]

[BibTex]


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The near and far of a pair of magnetic capillary disks

Koens, L., Wang, W., Sitti, M., Lauga, E.

Soft Matter, 2019 (article)

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[BibTex]

[BibTex]


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Multifarious Transit Gates for Programmable Delivery of Bio‐functionalized Matters

Hu, X., Torati, S. R., Kim, H., Yoon, J., Lim, B., Kim, K., Sitti, M., Kim, C.

Small, Wiley Online Library, 2019 (article)

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[BibTex]

[BibTex]


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Multi-functional soft-bodied jellyfish-like swimming

Ren, Z., Hu, W., Dong, X., Sitti, M.

Nature communications, 10, 2019 (article)

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[BibTex]


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Welcome to Progress in Biomedical Engineering

Sitti, M.

Progress in Biomedical Engineering, 1, IOP Publishing, 2019 (article)

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[BibTex]

[BibTex]


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Quantifying the Robustness of Natural Dynamics: a Viability Approach

Heim, S., Sproewitz, A.

Proceedings of Dynamic Walking , Dynamic Walking , 2019 (conference) Accepted

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Submission DW2019 [BibTex]

Submission DW2019 [BibTex]


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Mechanics of a pressure-controlled adhesive membrane for soft robotic gripping on curved surfaces

Song, S., Drotlef, D., Paik, J., Majidi, C., Sitti, M.

Extreme Mechanics Letters, Elsevier, 2019 (article)

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[BibTex]


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Graphene oxide synergistically enhances antibiotic efficacy in Vancomycin resistance Staphylococcus aureus

Singh, V., Kumar, V., Kashyap, S., Singh, A. V., Kishore, V., Sitti, M., Saxena, P. S., Srivastava, A.

ACS Applied Bio Materials, ACS Publications, 2019 (article)

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[BibTex]

[BibTex]


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Review of emerging concepts in nanotoxicology: opportunities and challenges for safer nanomaterial design

Singh, A. V., Laux, P., Luch, A., Sudrik, C., Wiehr, S., Wild, A., Santamauro, G., Bill, J., Sitti, M.

Toxicology Mechanisms and Methods, 2019 (article)

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[BibTex]

[BibTex]


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Multifunctional and biodegradable self-propelled protein motors

Pena-Francesch, A., Giltinan, J., Sitti, M.

Nature communications, 10, Nature Publishing Group, 2019 (article)

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[BibTex]

[BibTex]


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Cohesive self-organization of mobile microrobotic swarms

Yigit, B., Alapan, Y., Sitti, M.

arXiv preprint arXiv:1907.05856, 2019 (article)

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[BibTex]

[BibTex]


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Mobile microrobots for active therapeutic delivery

Erkoc, P., Yasa, I. C., Ceylan, H., Yasa, O., Alapan, Y., Sitti, M.

Advanced Therapeutics, Wiley Online Library, 2019 (article)

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[BibTex]

[BibTex]


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Shape-encoded dynamic assembly of mobile micromachines

Alapan, Y., Yigit, B., Beker, O., Demirörs, A. F., Sitti, M.

Nature, 18, 2019 (article)

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[BibTex]

[BibTex]


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Microfluidics Integrated Lithography‐Free Nanophotonic Biosensor for the Detection of Small Molecules

Sreekanth, K. V., Sreejith, S., Alapan, Y., Sitti, M., Lim, C. T., Singh, R.

Advanced Optical Materials, 2019 (article)

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[BibTex]

[BibTex]


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Gecko-inspired composite microfibers for reversible adhesion on smooth and rough surfaces

Drotlef, D., Dayan, C., Sitti, M.

In INTEGRATIVE AND COMPARATIVE BIOLOGY, pages: E58-E58, OXFORD UNIV PRESS INC JOURNALS DEPT, 2001 EVANS RD, CARY, NC 27513 USA, 2019 (inproceedings)

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[BibTex]

[BibTex]


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ENGINEERING Bio-inspired robotic collectives

Sitti, M.

Nature, 567, pages: 314-315, Macmillan Publishers Ltd., London, England, 2019 (article)

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[BibTex]

[BibTex]


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Peptide-Induced Biomineralization of Tin Oxide (SnO2) Nanoparticles for Antibacterial Applications

Singh, A. V., Jahnke, T., Xiao, Y., Wang, S., Yu, Y., David, H., Richter, G., Laux, P., Luch, A., Srivastava, A., Saxena, P. S., Bill, J., Sitti, M.

Journal of nanoscience and nanotechnology, 19, American Scientific Publishers, 2019 (article)

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[BibTex]

[BibTex]


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Electromechanical actuation of dielectric liquid crystal elastomers for soft robotics

Davidson, Z., Shahsavan, H., Guo, Y., Hines, L., Xia, Y., Yang, S., Sitti, M.

Bulletin of the American Physical Society, APS, 2019 (article)

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[BibTex]

[BibTex]


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Learning to Navigate Endoscopic Capsule Robots

Turan, M., Almalioglu, Y., Gilbert, H. B., Mahmood, F., Durr, N. J., Araujo, H., Sarı, A. E., Ajay, A., Sitti, M.

IEEE Robotics and Automation Letters, 4, 2019 (article)

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[BibTex]

[BibTex]

2016


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Bioengineered and biohybrid bacteria-based systems for drug delivery

Hosseinidoust, Z., Mostaghaci, B., Yasa, O., Park, B., Singh, A. V., Sitti, M.

Advanced Drug Delivery Reviews, 106, pages: 27-44, Elsevier, November 2016 (article)

Abstract
The use of bacterial cells as agents of medical therapy has a long history. Research that was ignited over a century ago with the accidental infection of cancer patients has matured into a platform technology that offers the promise of opening up new potential frontiers in medical treatment. Bacterial cells exhibit unique characteristics that make them well-suited as smart drug delivery agents. Our ability to genetically manipulate the molecular machinery of these cells enables the customization of their therapeutic action as well as its precise tuning and spatio-temporal control, allowing for the design of unique, complex therapeutic functions, unmatched by current drug delivery systems. Early results have been promising, but there are still many important challenges that must be addressed. We present a review of promises and challenges of employing bioengineered bacteria in drug delivery systems and introduce the biohybrid design concept as a new additional paradigm in bacteria-based drug delivery.

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DOI Project Page [BibTex]

2016


DOI Project Page [BibTex]


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Steering control of a water-running robot using an active tail

Kim, H., Jeong, K., Sitti, M., Seo, T.

In Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pages: 4945-4950, October 2016 (inproceedings)

Abstract
Many highly dynamic novel mobile robots have been developed being inspired by animals. In this study, we are inspired by a basilisk lizard's ability to run and steer on water surface for a hexapedal robot. The robot has an active tail with a circular plate, which the robot rotates to steer on water. We dynamically modeled the platform and conducted simulations and experiments on steering locomotion with a bang-bang controller. The robot can steer on water by rotating the tail, and the controlled steering locomotion is stable. The dynamic modelling approximates the robot's steering locomotion and the trends of the simulations and experiments are similar, although there are errors between the desired and actual angles. The robot's maneuverability on water can be improved through further research.

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DOI [BibTex]

DOI [BibTex]


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A 5-D localization method for a magnetically manipulated untethered robot using a 2-D array of Hall-effect sensors

Son, D., Yim, S., Sitti, M.

IEEE/ASME Transactions on Mechatronics, 21(2):708-716, IEEE, October 2016 (article)

Abstract
This paper introduces a new five-dimensional localization method for an untethered meso-scale magnetic robot, which is manipulated by a computer-controlled electromagnetic system. The developed magnetic localization setup is a two-dimensional array of mono-axial Hall-effect sensors, which measure the perpendicular magnetic fields at their given positions. We introduce two steps for localizing a magnetic robot more accurately. First, the dipole modeled magnetic field of the electromagnet is subtracted from the measured data in order to determine the robot's magnetic field. Secondly, the subtracted magnetic field is twice differentiated in the perpendicular direction of the array, so that the effect of the electromagnetic field in the localization process is minimized. Five variables regarding the position and orientation of the robot are determined by minimizing the error between the measured magnetic field and the modeled magnetic field in an optimization method. The resulting position error is 2.1±0.8 mm and angular error is 6.7±4.3° within the applicable range (5 cm) of magnetic field sensors at 200 Hz. The proposed localization method would be used for the position feedback control of untethered magnetic devices or robots for medical applications in the future.

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


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High-Performance Multiresponsive Paper Actuators

Amjadi, M., Sitti, M.

ACS Nano, 10(11):10202-10210, American Chemical Society, October 2016 (article)

Abstract
There is an increasing demand for soft actuators because of their importance in soft robotics, artificial muscles, biomimetic devices, and beyond. However, the development of soft actuators capable of low-voltage operation, powerful actuation, and programmable shape-changing is still challenging. In this work, we propose programmable bilayer actuators that operate based on the large hygroscopic contraction of the copy paper and simultaneously large thermal expansion of the polypropylene film upon increasing the temperature. The electrothermally activated bending actuators can function with low voltages (≤ 8 V), low input electric power per area (P ≤ 0.14 W cm–2), and low temperature changes (≤ 35 °C). They exhibit reversible shape-changing behavior with curvature radii up to 1.07 cm–1 and bending angle of 360°, accompanied by powerful actuation. Besides the electrical activation, they can be powered by humidity or light irradiation. We finally demonstrate the use of our paper actuators as a soft gripper robot and a lightweight paper wing for aerial robotics.

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DOI Project Page Project Page [BibTex]

DOI Project Page Project Page [BibTex]


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Programmable assembly of heterogeneous microparts by an untethered mobile capillary microgripper

Giltinan, J., Diller, E., Sitti, M.

Lab on a Chip, 16(22):4445-4457, Royal Society of Chemistry, October 2016 (article)

Abstract
At the sub-millimeter scale, capillary forces enable robust and reversible adhesion between biological organisms and varied substrates. Current human-engineered mobile untethered micromanipulation systems rely on forces which scale poorly or utilize gripper-part designs that promote manipulation. Capillary forces, alternatively, are dependent upon the surface chemistry (which is scale independent) and contact perimeter, which conforms to the part surface. We report a mobile capillary microgripper that is able to pick and place parts of various materials and geometries, and is thus ideal for microassembly tasks that cannot be accomplished by large tethered manipulators. We achieve the programmable assembly of sub-millimeter parts in an enclosed three-dimensional aqueous environment by creating a capillary bridge between the targeted part and a synthetic, untethered, mobile body. The parts include both hydrophilic and hydrophobic components: hydrogel, kapton, human hair, and biological tissue. The 200 μm untethered system can be controlled with five-degrees-of-freedom and advances progress towards autonomous desktop manufacturing for tissue engineering, complex micromachines, microfluidic devices, and meta-materials.

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


Thumb xl 5fc6a94719a2ed61820a6fd031f53c39682a1f157b1c10c35d5d4c88d087d90e
Composition-dependent underwater adhesion of catechol-bearing hydrogels

Wu, H., Sariola, V., Zhao, J., Ding, H., Sitti, M., Bettinger, C. J.

Polymer International, 65(11):1355-1359, John Wiley & Sons, Ltd, September 2016 (article)

Abstract
Interfacial adhesion-mediated transfer printing processes can integrate functional electronic microstructures with polymeric substrates that are bendable and stretchable. Transfer printing has also been extended to catechol-bearing adhesive hydrogels. This study presents indentation adhesion tests between catechol-bearing hydrogel substrates with catechol concentrations varying from 0 to 10% (mol/mol) and thin-film materials commonly used in microelectronic fabrication including polymers, noble metals and oxides. The results indicate that the interfacial adhesion of catechol-bearing hydrogels is positively correlated with the concentration of catechol-bearing monomers as well as the retraction velocity during transfer printing. This study can inform transfer printing processes for microfabricated structures to compliant hydrated substrates such as hygroscopic monomers, mesoporous polymer networks and hydrogels. © 2016 Society of Chemical Industry

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DOI [BibTex]

DOI [BibTex]


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Bacteria-Driven Particles: Patterned and Specific Attachment of Bacteria on Biohybrid Bacteria-Driven Microswimmers (Adv. Healthcare Mater. 18/2016)

Singh, A. V., Sitti, M.

Advanced Healthcare Materials, 5(18):2306-2306, September 2016 (article)

Abstract
On page 2325, Ajay Vikram Singh and Metin Sitti propose a facile surface patterning technique and a specific, strong biotin–streptavidin bonding of bacteria on patterned surfaces to fabricate Janus particles that are propelled by the attached bacteria. Such bacteria-driven Janus microswimmers could be used for future medicine in targeted drug delivery and environmental remediation.

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DOI Project Page [BibTex]


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The effect of temperature and humidity on adhesion of a gecko-inspired adhesive: implications for the natural system

Stark, A. Y., Klittich, M. R., Sitti, M., Niewiarowski, P. H., Dhinojwala, A.

Scientific Reports, 6, pages: 30936, Nature Publishing Group, August 2016 (article)

Abstract
The adhesive system of geckos has inspired hundreds of synthetic adhesives. While this system has been used relentlessly as a source of inspiration, less work has been done in reverse, where synthetics are used to test questions and hypotheses about the natural system. Here we take such an approach. We tested shear adhesion of a mushroom-tipped synthetic gecko adhesive under conditions that produced perplexing results in the natural adhesive system. Synthetic samples were tested at two temperatures (12 °C and 32 °C) and four different humidity levels (30%, 55%, 70%, and 80% RH). Surprisingly, adhesive performance of the synthetic samples matched that of living geckos, suggesting that uncontrolled parameters in the natural system, such as surface chemistry and material changes, may not be as influential in whole-animal performance as previously thought. There was one difference, however, when comparing natural and synthetic adhesive performance. At 12 °C and 80% RH, adhesion of the synthetic structures was lower than expected based on the natural system’s performance. Our approach highlights a unique opportunity for both biologists and material scientists, where new questions and hypotheses can be fueled by joint comparisons of the natural and synthetic systems, ultimately improving knowledge of both.

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DOI [BibTex]

DOI [BibTex]


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Targeting of cell mockups using sperm-shaped microrobots in vitro

Khalil, I. S., Tabak, A. F., Hosney, A., Klingner, A., Shalaby, M., Abdel-Kader, R. M., Serry, M., Sitti, M.

In Biomedical Robotics and Biomechatronics (BioRob), 2016 6th IEEE International Conference on, pages: 495-501, July 2016 (inproceedings)

Abstract
Sperm-shaped microrobots are controlled under the influence of weak oscillating magnetic fields (milliTesla range) to selectively target cell mockups (i.e., gas bubbles with average diameter of 200 μm). The sperm-shaped microrobots are fabricated by electrospinning using a solution of polystyrene, dimethylformamide, and iron oxide nanoparticles. These nanoparticles are concentrated within the head of the microrobot, and hence enable directional control along external magnetic fields. The magnetic dipole moment of the microrobot is characterized (using the flip-time technique) to be 1.4×10-11 A.m2, at magnetic field of 28 mT. In addition, the morphology of the microrobot is characterized using Scanning Electron Microscopy images. The characterized parameters and morphology are used in the simulation of the locomotion mechanism of the microrobot to prove that its motion depends on breaking the time-reversal symmetry, rather than pulling with the magnetic field gradient. We experimentally demonstrate that the microrobot can controllably follow S-shaped, U-shaped, and square paths, and selectively target the cell mockups using image guidance and under the influence of the oscillating magnetic fields.

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DOI [BibTex]

DOI [BibTex]


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Analysis of the magnetic torque on a tilted permanent magnet for drug delivery in capsule robots

Munoz, F., Alici, G., Zhou, H., Li, W., Sitti, M.

In Advanced Intelligent Mechatronics (AIM), 2016 IEEE International Conference on, pages: 1386-1391, July 2016 (inproceedings)

Abstract
In this paper, we present the analysis of the torque transmitted to a tilted permanent magnet that is to be embedded in a capsule robot to achieve targeted drug delivery. This analysis is carried out by using an analytical model and experimental results for a small cubic permanent magnet that is driven by an external magnetic system made of an array of arc-shaped permanent magnets (ASMs). Our experimental results, which are in agreement with the analytical results, show that the cubic permanent magnet can safely be actuated for inclinations lower than 75° without having to make positional adjustments in the external magnetic system. We have found that with further inclinations, the cubic permanent magnet to be embedded in a drug delivery mechanism may stall. When it stalls, the external magnetic system's position and orientation would have to be adjusted to actuate the cubic permanent magnet and the drug release mechanism. This analysis of the transmitted torque is helpful for the development of real-time control strategies for magnetically articulated devices.

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DOI [BibTex]

DOI [BibTex]