viii
Preface
recognition using biological signals, modeling of human brain activities,
characterization of cell properties using robotic systems, etc., deal with
bio-robotic modeling/analysis. In order to provide readers with a better
understanding of organization of this book, we classified the content into the
following four parts: biologically inspired robot design and control, micro/
nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems.
This book starts with a brief introduction to biologically inspired robotics in Chapter 1. Chapters 2–6, which form the first part of the book, are
focused on biologically inspired robot design and control. Chapter 2 presents
a biomimetic controller for controlling the motion of a robotic snake with a
large number of degrees of freedom based on the concept of central pattern
generator, which is a rhythmical motion generator existing in most animals.
Chapter 3 introduces a bionic fitness cycle called the Bio-Cycle, inspired by
the cheetah, for physical exercises and relaxation. By mimicking the running
and walking mechanisms of a cheetah, the Bio-Cycle enables user to easily
change speed of type of motion in order to fit different fitness needs. Chapter
4 addresses the realization of highly skilled manipulation/motion performed
by some athletes using a smart mechanical mechanism. Chapter 5 is focused
on the biologically inspired design of autonomous robotic fish and their
application to pollution detection in port. Chapter 6 presents the design of a
low-noise neck mechanism of a humanoid robot by mimicking the motion of
a human neck.
The second part of the book consists of Chapters 7, 8, and 9 with a focus
on the state of the art of micro/nano bio-robotic systems. Chapter 7 presents
an automated single-cell transfer module with a vision-based nondestructive cell detection system for microfluidic applications examining or processing cells. Chapter 8 addresses biomechanical characterization of mechanical
properties of human red blood cells using a microrobotic system, which is
a problem in bio-robotic analysis. Chapter 9 introduces the state-of-the-art
technology of nanorobotic manipulation of single biological cells.
We introduce biological measurement and actuation in the third part, consisting of Chapters 10–15. Chapter 10 proposes a noninvasive brain activity scanning method using an innovative hybrid sensor that simultaneously
measures both optical and electrical signals of the brain. This hybrid sensor
makes it possible to measure the brain activities of patients who cannot produce bioelectric brain signals due to severe spinal cord injury or advanced
stages of amyotrophic lateral sclerosis. Chapter 11 addresses biomedical
detection using capsule endoscopy (CE) and presents a novel scheme for
bowel polyp detection using CE images. Chapter 12 discusses classification of hand motion using surface electromyography (EMG). A novel measure that is robust to positions of the sensors, velocity of hand motion, and
grasping forces is developed for classifying human hand motion. Chapter
13 proposes a multifunctional actuator using magnetorheological fluids for
assistive knee braces. The novelty of the actuator lies in that it can work with
Preface
recognition using biological signals, modeling of human brain activities,
characterization of cell properties using robotic systems, etc., deal with
bio-robotic modeling/analysis. In order to provide readers with a better
understanding of organization of this book, we classified the content into the
following four parts: biologically inspired robot design and control, micro/
nano bio-robotic systems, biological measurement and actuation, and applications of robotics technology to biological problems.
This book starts with a brief introduction to biologically inspired robotics in Chapter 1. Chapters 2–6, which form the first part of the book, are
focused on biologically inspired robot design and control. Chapter 2 presents
a biomimetic controller for controlling the motion of a robotic snake with a
large number of degrees of freedom based on the concept of central pattern
generator, which is a rhythmical motion generator existing in most animals.
Chapter 3 introduces a bionic fitness cycle called the Bio-Cycle, inspired by
the cheetah, for physical exercises and relaxation. By mimicking the running
and walking mechanisms of a cheetah, the Bio-Cycle enables user to easily
change speed of type of motion in order to fit different fitness needs. Chapter
4 addresses the realization of highly skilled manipulation/motion performed
by some athletes using a smart mechanical mechanism. Chapter 5 is focused
on the biologically inspired design of autonomous robotic fish and their
application to pollution detection in port. Chapter 6 presents the design of a
low-noise neck mechanism of a humanoid robot by mimicking the motion of
a human neck.
The second part of the book consists of Chapters 7, 8, and 9 with a focus
on the state of the art of micro/nano bio-robotic systems. Chapter 7 presents
an automated single-cell transfer module with a vision-based nondestructive cell detection system for microfluidic applications examining or processing cells. Chapter 8 addresses biomechanical characterization of mechanical
properties of human red blood cells using a microrobotic system, which is
a problem in bio-robotic analysis. Chapter 9 introduces the state-of-the-art
technology of nanorobotic manipulation of single biological cells.
We introduce biological measurement and actuation in the third part, consisting of Chapters 10–15. Chapter 10 proposes a noninvasive brain activity scanning method using an innovative hybrid sensor that simultaneously
measures both optical and electrical signals of the brain. This hybrid sensor
makes it possible to measure the brain activities of patients who cannot produce bioelectric brain signals due to severe spinal cord injury or advanced
stages of amyotrophic lateral sclerosis. Chapter 11 addresses biomedical
detection using capsule endoscopy (CE) and presents a novel scheme for
bowel polyp detection using CE images. Chapter 12 discusses classification of hand motion using surface electromyography (EMG). A novel measure that is robust to positions of the sensors, velocity of hand motion, and
grasping forces is developed for classifying human hand motion. Chapter
13 proposes a multifunctional actuator using magnetorheological fluids for
assistive knee braces. The novelty of the actuator lies in that it can work with