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Development of Organic Machines and Biohybrid Robots

Webster, Victoria Ann
http://rave.ohiolink.edu/etdc/view?acc_num=case1481122904450373

Abstract Details

2017, Doctor of Philosophy, Case Western Reserve University, EMC - Mechanical Engineering.
This dissertation presents several novel techniques in the development of biohybrid robots and organic machines. Such devices typically use biocompatible synthetic polymers as compliant scaffolds, which require additional processing steps to promote cellular alignment and attachment. Instead, electrocompacted and aligned collagen (ELAC) can be used as a completely organic scaffold, requiring no additional processing steps. Locomotive living machines have been fabricated using ELAC scaffolds. Devices have been produced using either primary cardiomyocytes or skeletal muscle cells isolated from chick embryos as actuators. When tested under the same conditions, skeletal muscle cell powered devices are about an order of magnitude faster, having a mean velocity of 77.6 μm/min, compared to 9.34 μm /min for cardiomyocyte powered devices. Furthermore, new techniques for approximating the contractile properties of cells in biohybrid devices using Finite Element Analysis (FEA) have been developed. We have investigated the effect of the use of thermal contraction as a proxy for muscle forces on simulation runtime. The thermal contraction model was significantly faster than models using individual cell forces, making it beneficial for rapidly designing or optimizing devices. Three techniques, Stoney's Approximation, a Modified Stoney's Approximation, and a Thermostat Model, were explored for calibrating thermal expansion/contraction parameters (TECPs). The TECP values were calibrated by using data on the deflections of muscular thin films (MTFs). Using these techniques, TECP values that suitably approximate experimental deflections can be determined by using experimental data obtained from cardiomyocyte MTFs. Additionally, the TECP values are applicable to other types of biohybrid devices. Two non-MTF models were simulated based on devices reported in the existing literature. Finally, we have investigated Aplysia californica as a novel source of robust material for biohybrid robots. We have developed two devices powered by the I2 muscle from the \textit{Aplysia} buccal mass: a sea turtle-inspired device and an inchworm-inspired device. Both devices used a flexible 3D printed skeleton to which the muscle is attached. Furthermore, we have developed a complete neuromuscular simulation of the inchworm device. These techniques serve as the foundation for future development of robust, autonomous, organic robots using Aplysia californica as a material source.
Roger Quinn (Committee Co-Chair)
Ozan Akkus (Committee Co-Chair)
Hillel Chiel (Committee Member)
Umut Gurkan (Committee Member)
148 p.
Biomechanics; Biomedical Engineering; Mechanical Engineering; Robotics
biohybrid, organobot, living machines,

Recommended Citations

Citations

  • Webster, V. A. (2017). Development of Organic Machines and Biohybrid Robots [Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1481122904450373

    APA Style (7th edition)

  • Webster, Victoria. Development of Organic Machines and Biohybrid Robots. 2017. Case Western Reserve University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1481122904450373.

    MLA Style (8th edition)

  • Webster, Victoria. "Development of Organic Machines and Biohybrid Robots." Doctoral dissertation, Case Western Reserve University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=case1481122904450373

    Chicago Manual of Style (17th edition)

case1481122904450373
1,413
© 2016, some rights reserved.Creative Commons License Development of Organic Machines and Biohybrid Robots by Victoria Ann Webster is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.