Robotics as a future and emerging technology: biomimetics, cybernetics, and neuro-robotics in European projects

The evolution of the paradigm of modern biomechatronics and robotics can be seen in two main directions, standing as two extremities of a range of future biomechatronics systems: increasing the performance and miniaturization of the hardware platform and increasing the intelligence of the integrated system. Regarding the first direction, the current challenge is to develop sophisticated machines with a higher level of miniaturization and performance, as they can be inspired by insects. Towards the other extremity, there is research on intelligent and autonomous robots, like humanoids. At intermediate levels, one can envisage the development of machines with a good degree of sophistication and performance and with a moderate degree of intelligence and that are more prone to human supervision and control or even to integration with natural bodies as bionic components. In this article, three projects funded by the European Commission in the 5th Framework Programme, in the Information Society Technology-Future and Emerging Technologies (IST-FET) program, are presented as implementing three levels of this evolution of the biomechatronic paradigm: from the biomimetic wormlike microrobot for endoscopic exploration to a cybernetic hand prosthesis to an anthropomorphic robotic platform implementing learning schemes for sensory-motor coordination in manipulation.

[1]  P. Dario,et al.  Neural interfaces for regenerated nerve stimulation and recording. , 1998, IEEE transactions on rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society.

[2]  Brian Scassellati,et al.  Humanoid Robots: A New Kind of Tool , 2000, IEEE Intell. Syst..

[3]  R. Full,et al.  Adhesive force of a single gecko foot-hair , 2000, Nature.

[4]  Dimitris P. Tsakiris,et al.  Undulatory locomotion of polychaete annelids: mechanics, neural control and robotic prototypes † , 2004 .

[5]  Paolo Dario,et al.  Design and development of an underactuated prosthetic hand , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[6]  S Micera,et al.  Improving detection of muscle activation intervals. , 2001, IEEE engineering in medicine and biology magazine : the quarterly magazine of the Engineering in Medicine & Biology Society.

[7]  Kevin B. Englehart,et al.  A robust, real-time control scheme for multifunction myoelectric control , 2003, IEEE Transactions on Biomedical Engineering.

[8]  Paolo Dario,et al.  Bio-inspired solutions for locomotion in the gastrointestinal tract: background and perspectives , 2003, Philosophical Transactions of the Royal Society of London. Series A: Mathematical, Physical and Engineering Sciences.

[9]  I. Kapandji.  The Physiology of the Joints , 1988 .

[10]  Michael F. Land,et al.  Optics and Vision in Invertebrates , 1981 .

[11]  Paolo Dario,et al.  Humanoids and personal robots: Design and experiments , 2001, J. Field Robotics.

[12]  Bruno Siciliano,et al.  An experimental study on compliance control for a redundant personal robot arm , 2003, Robotics Auton. Syst..

[13]  R. Johansson,et al.  Responses in glabrous skin mechanoreceptors during precision grip in humans , 2004, Experimental Brain Research.

[14]  Paolo Dario,et al.  Experimental analysis of the proprioceptive and exteroceptive sensors of an underactuated prosthetic hand , 2004 .

[15]  M. Kawato.  Robotics as a Tool for Neuroscience: Cerebellar Internal Models for Robotics and Cognition , 2000 .

[16]  Paolo Dario,et al.  Analysis and development of locomotion devices for the gastrointestinal tract , 2002, IEEE Transactions on Biomedical Engineering.

[17]  Loredana Zollo,et al.  A bio-inspired approach for regulating visco-elastic properties of a robot arm , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[18]  Giulio Sandini,et al.  A retina-like CMOS sensor and its applications , 2000, Proceedings of the 2000 IEEE Sensor Array and Multichannel Signal Processing Workshop. SAM 2000 (Cat. No.00EX410).

[19]  Joseph Hamill,et al.  Biomechanical Basis of Human Movement , 1995 .

[20]  D. Accoto,et al.  MEASUREMENTS OF THE FRICTIONAL PROPERTIES OF THE GASTROINTESTINAL TRACT , 2001 .

[21]  Chris Lovchik,et al.  The Robonaut hand: a dexterous robot hand for space , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[22]  Quillin,et al.  Kinematic scaling of locomotion by hydrostatic animals: ontogeny of peristaltic crawling by the earthworm lumbricus terrestris , 1999, The Journal of experimental biology.

[23]  Paolo Dario,et al.  A Bio-inspired Neuro-Controller for an Anthropomorphic Head-Arm Robotic System , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[24]  Hong Liu,et al.  DLR-Hand II: next generation of a dextrous robot hand , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[25]  広瀬 茂男,et al.  Biologically inspired robots : snake-like locomotors and manipulators , 1993 .

[26]  Paolo Dario,et al.  A SMA actuated artificial earthworm , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[27]  S. Schultz.  Principles of Neural Science, 4th ed. , 2001 .

[28]  Kevin B. Englehart,et al.  A wavelet-based continuous classification scheme for multifunction myoelectric control , 2001, IEEE Transactions on Biomedical Engineering.

[29]  R. Johansson,et al.  Spatial properties of the population of mechanoreceptive units in the glabrous skin of the human hand , 1980, Brain Research.

[30]  Paolo Dario,et al.  Experimental analysis of an innovative prosthetic hand with proprioceptive sensors , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).