Precise dynamic modeling of pneumatic muscle actuators with modified Bouw–Wen hysteresis model

Pneumatic muscle actuators (PMAs) are frequently used in a wide variety of biorobotic applications, such as robotic orthoses and wearable exoskeletons, due to their high power/weight ratio and significant compliance. However, the asymmetric hysteresis nonlinearity reduces their fidelity and cause difficulties in the accurate control procedure. In this paper, Bouc–Wen hysteresis model is modified to describe the asymmetric force/length hysteresis of the PMA. The effect of muscle length on hysteretic restoring force is considered in this modified model and experimental results show that the proposed model has a better performance to characterize the asymmetric hysteresis loop of pneumatic muscles. The nonlinear pressure/force model of these actuators also is modeled precisely and its performance is experimentally verified for different muscle lengths.

Ultra-stretchable hydrogels with reactive liquid metals as asymmetric force-sensors

Liquid metals (LMs) are used as liquid fillers in hydrophilic polymer networks to realize ultra-stretchable hydrogels as asymmetric force-sensors. The existence of liquid metals endows the hydrogel with unique features in synthetic methods and sensing applications.

Organ sculpting by patterned extracellular matrix stiffness

How organ-shaping mechanical imbalances are generated is a central question of morphogenesis, with existing paradigms focusing on asymmetric force generation within cells. We show here that organs can be sculpted instead by patterning anisotropic resistance within their extracellular matrix (ECM). Using direct biophysical measurements of elongating Drosophila egg chambers, we document robust mechanical anisotropy in the ECM-based basement membrane (BM) but not in the underlying epithelium. Atomic force microscopy (AFM) on wild-type BM in vivo reveals an anterior–posterior (A–P) symmetric stiffness gradient, which fails to develop in elongation-defective mutants. Genetic manipulation shows that the BM is instructive for tissue elongation and the determinant is relative rather than absolute stiffness, creating differential resistance to isotropic tissue expansion. The stiffness gradient requires morphogen-like signaling to regulate BM incorporation, as well as planar-polarized organization to homogenize it circumferentially. Our results demonstrate how fine mechanical patterning in the ECM can guide cells to shape an organ.

Stronger net posterior cortical forces and asymmetric microtubule arrays produce simultaneous centration and rotation of the pronuclear complex in the early Caenorhabditis elegans embryo

Positioning of microtubule-organizing centers (MTOCs) incorporates biochemical and mechanical cues for proper alignment of the mitotic spindle and cell division site. Current experimental and theoretical studies in the early Caenorhabditis elegans embryo assume remarkable changes in the origin and polarity of forces acting on the MTOCs. These changes must occur over a few minutes, between initial centration and rotation of the pronuclear complex and entry into mitosis, and the models do not replicate in vivo timing of centration and rotation. Here we propose a model that incorporates asymmetry in the microtubule arrays generated by each MTOC, which we demonstrate with in vivo measurements, and a similar asymmetric force profile to that required for posterior-directed spindle displacement during mitosis. We find that these asymmetries are capable of and important for recapitulating the simultaneous centration and rotation of the pronuclear complex observed in vivo. The combination of theoretical and experimental evidence provided here offers a unified framework for the spatial organization and forces needed for pronuclear centration, rotation, and spindle displacement in the early C. elegans embryo.