Bio Robotics

Research Group

Our Motivation

The research group Bio Robotics at the Chair of Micro Technology and Medical Device Technology (MiMed) examines the feasability of organic systems to replace physikal components in the field of robotics. We want to explore and develop devices or systems in which biological components work in symbiosys with physical ones. For this purpose, we are working in the field of mechanics, kinematics, electronics and information technology. Particularly, the potentialities of rapid manufacturing (e.g. selective laser sintering) are systematically explored.

Methodology

We want to research robotic systems that are biohybrid systems that generate forces and torques through muscles made of biological cells encapsulated in exoskeletons or skin-covered tissue systems that can be electrically controlled. The skeletons consist of mechanisms that can convert simple linear motions into complex spatial motions with high precision.
The future of robotics consists of systems, taking their energy from food, converting the energy into force via cells, and can still being controlled electrically.
The question is, up to which point it is possible to arrange biorecators around the muscle cells and with which skeletal structures mechanical movements can be achieved.

Facilities

The chair posseses various manufactoring facilities for the production of functional models and prototypes. Such as a precision engineering shop floor. Notable facilities include:

  • EOS Formiga 100
  • CNC 5-axis milling machine (Deckel)
  • Z-corp Z-510
  • Trotec Speedy 400 flexx laser cutter

Selected Publications

  • Yilun Sun and Tim C. Lueth. "Cruciate-Ligament-Inspired Compliant Joints: Application to 3D-Printed Continuum Surgical Robots." 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC). IEEE, 2021. (accepted)
  • Yilun Sun and Tim C. Lueth. "Design of Bionic Prosthetic Fingers Using 3D Topology Optimization." 2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC). IEEE, 2021. (accepted)
  • Yilun Sun, Yuqing Liu, Lingji Xu, Yunzhe Zou, Angela Faragasso and Tim C. Lueth. "Automatic Design of Compliant Surgical Forceps With Adaptive Grasping Functions." IEEE Robotics and Automation Letters 5 (2), 1095-1102, 2020. DOI: 10.1109/LRA.2020.2967715
  • Yilun Sun, Dingzhi Zhang, Yuqing Liu and Tim C. Lueth. "FEM-Based Mechanics Modeling of Bio-Inspired Compliant Mechanisms for Medical Applications." IEEE Transactions on Medical Robotics and Bionics 2 (3), 364-373, 2020. DOI: 10.1109/TMRB.2020.3011291
  • Jinguo Huang, Yilun Sun, Tianmiao Wang, Tim C Lueth, Jianhong Liang, Xingbang Yang. "Fluid-Structure Interaction Hydrodynamics Analysis on a Deformed Bionic Flipper With Non-Uniformly Distributed Stiffness." IEEE Robotics and Automation Letters 5 (3), 4657-4662, 2020. DOI: 10.1109/LRA.2020.3003774
  • Yilun Sun, Dingzhi Zhang and Tim C. Lueth. "Bionic Design of a Disposable Compliant Surgical Forceps With Optimized Clamping Performance." 2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC). IEEE, 2020. PMID: 33019042, DOI: 10.1109/EMBC44109.2020.9176027
  • Krieger, Y.S.; Kuball, C.-M.; Rumschoettel, D.; Dietz, C.; Pfeiffer, J.H.; Roppenecker, D.B. and Lueth, T.C. (2017): Fatigue Strength of Laser Sintered Flexure Hinge Structures for Soft Robotic Applications. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, Canada, September 24–28, 2017.

Contact Persons

Yilun Sun, M.Sc.

Lea Martin

Lucas Artmann, M.Sc.