Journal of Bionic Engineering
ISSN 1672-6529
CN 22-1355/TB
Editor-in-Chief : Luquan Ren Published by Science Press and Springer
Online Journal
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06 February 2025, Volume 22 Issue 2
Review: Advanced Drive Technologies for Bionic Soft Robots Journal of Bionic Engineering. 2025, 22 (2): 419-457. DOI: 10.1007/s42235-025-00664-1
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This article provides a comprehensive exploration of the current research landscape in the field of soft actuation technology applied to bio-inspired soft robots. In sharp contrast to their conventional rigid counterparts, bio-inspired soft robots are primarily constructed from flexible materials, conferring upon them remarkable adaptability and flexibility to execute a multitude of tasks in complex environments. However, the classification of their driving technology poses a significant challenge owing to the diverse array of employed driving mechanisms and materials. Here, we classify several common soft actuation methods from the perspectives of the sources of motion in bio-inspired soft robots and their bio-inspired objects, effectively filling the classification system of soft robots, especially bio-inspired soft robots. Then, we summarize the driving principles and structures of various common driving methods from the perspective of bionics, and discuss the latest developments in the field of soft robot actuation from the perspective of driving modalities and methodologies. We then discuss the application directions of bio-inspired soft robots and the latest developments in each direction. Finally, after an in-depth review of various soft bio-inspired robot driving technologies in recent years, we summarize the issues and challenges encountered in the advancement of soft robot actuation technology.Related Articles | Metrics
Mimicking Nature’s Insects: A Review of Bio-inspired Flapping-Wing Micro Robots (FWMRs) Journal of Bionic Engineering. 2025, 22 (2): 458-479. DOI: 10.1007/s42235-025-00648-1
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Micro aerial vehicles (MAVs) have flexibility and maneuverability, which can offer vast potential for applications in both civilian and military domains. Compared to Fixed-wing/Rotor-wing MAVs, Flapping Wing Micro Robots (FWMRs) have garnered widespread attention among scientists due to their superior miniaturized aerodynamic theory, reduced noise, and enhanced resistance to disturbances in complex and diverse environments. Flying insects, it not only has remarkable flapping flight ability (wings), but also takeoff and landing habitat ability (legs). If the various functions of flying insects can be imitated, efficient biomimetic FWMRs can be produced. This paper provides a review of the flight kinematics, aerodynamics, and wing structural parameters of insects. Then, the traditional wings and folding wings of insect-inspired FWMRs were compared. The research progress in takeoff and landing of FWMRs was also summarized, and the future developments and challenges for insect-inspired FWMRs were discussed.Related Articles | Metrics
A Review of Fall Coping Strategies for Humanoid Robots Journal of Bionic Engineering. 2025, 22 (2): 480-512. DOI: 10.1007/s42235-024-00643-y
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Humanoid robots exhibit structures and movements akin to those of humans, enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools. Sustaining balance amidst disturbances constitutes a fundamental capability for humanoid robots. Consequently, adopting efficacious strategies to manage instability and mitigate injuries resulting from falls assumes paramount importance in advancing the widespread adoption of humanoid robotics. This paper presents a comprehensive overview of the ongoing development of strategies for coping with falls in humanoid robots. It systematically reviews and discusses three critical facets: fall state detection, preventive actions against falls, and post-fall protection measures. The paper undertakes a thorough classification of existing coping methodologies across different stages of falls, analyzes the merits and drawbacks of each approach, and outlines the evolving trajectory of solutions for addressing fall-related challenges across distinct stages. Finally, the paper provides a succinct summary and future prospects for the current fall coping strategies tailored for humanoid robots.Related Articles | Metrics
Biomimetic Structure and Phase Change Materials for Multifunctional Personal Thermal Management Journal of Bionic Engineering. 2025, 22 (2): 513-561. DOI: 10.1007/s42235-025-00647-2
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With the continuously increasing awareness of energy conservation and the intensifying impacts of global warming, Personal Thermal Management (PTM) technologies are increasingly recognized for their potential to ensure human thermal comfort in extreme environments. Biomimetic structures have emerged as a novel source of inspiration for PTM applications. This review systematically summarizes the biomimetic structures, phase change materials, manufacturing methods, and the performance of multifunctional PTM wearables. Firstly, it analyzes the biomimetic structures with thermal regulation and encapsulated phase change material functionalities from different dimensions, highlighting their applications in PTM. Subsequently, it outlines the conventional manufacturing methods incorporating various biomimetic structures, offering strategies for the production of PTM wearables. The review also discusses the typical performance characteristics of multifunctional PTM wearables, addressing the current demands in thermal management. Finally, opportunities and challenges in PTM field are proposed, proposing new directions for future research.Related Articles | Metrics
Dual-responsive Tumbleweed-inspired Soft Robot Based on Poly(N‑isopropylacrylamide) and MoS2 for Targeted Drug Delivery in Stomach Journal of Bionic Engineering. 2025, 22 (2): 562-573. DOI: 10.1007/s42235-025-00650-7
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In recent years, robots used for targeted drug delivery in the stomach have received extensive attention. Inspired by tumbleweeds, we have designed a dual-responsive soft robot based on poly(N-isopropylacrylamide) and MoS2. Under the action of an adjustable magnetic field, it can achieve steady motion at a frequency that allows it to move up to 35 mm/s, demonstrating high flexibility and controllability. It can also roll along a predetermined path, traverse mazes, climb over obstacles, among other functions. In addition, by harnessing the photothermal conversion effect of MoS2, the robot can be opened and closed using light, enabling controlled drug release. Targeted drug delivery is achieved in a gastric model using our designed soft robot, marking a significant clinical advancement expected to revolutionize future medical treatments and enhance the efficacy of drug therapy.Related Articles | MetricsAutomatic Control of Magnetic Helical Microrobots Docking with Target Objects in Liquid Environments Journal of Bionic Engineering. 2025, 22 (2): 574-584. DOI: 10.1007/s42235-025-00649-0
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Bio-inspired magnetic helical microrobots have great potential for biomedical and micromanipulation applications. Precise interaction with objects in liquid environments is an important prerequisite and challenge for helical microrobots to perform various tasks. In this study, an automatic control method is proposed to realize the axial docking of helical microrobots with arbitrarily placed cylindrical objects in liquid environments. The docking process is divided into ascent, approach, alignment, and insertion stages. First, a 3D docking path is planned according to the positions and orientations of the microrobot and the target object. Second, a steering-based 3D path-following controller guides the helical microrobot to rise away from the container bottom and approach the target along the path. Third, based on path design with gravity compensation and steering output limits, alignment of position and orientation can be accomplished simultaneously. Finally, the helical microrobot completes the docking under the rotating magnetic field along the target orientation. Experiments verified the automatic docking of the helical microrobot with static targets, including connecting with microshafts and inserting into micro-tubes. The object grasping of a reconfigurable helical microrobot aided by 3D automatic docking was also demonstrated. This method enables precise docking of helical microrobots with objects, which might be used for capture and sampling, in vivo navigation control, and functional assembly of microrobots.Related Articles | Metrics
Adaptive Discrete-Time Sliding Mode Control Applied to the Pitch Motion of a Micro Air Vehicle with Flapping Wings Journal of Bionic Engineering. 2025, 22 (2): 585-595. DOI: 10.1007/s42235-025-00658-z
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A robust Adaptive Discrete-time Sliding Mode Controller (ADSMC) is formulated, and is applied to control the pitch motion of a simulated Flapping-Wing Micro Air Vehicle (FWMAV). There is great potential for FWMAVs to be used as aerial tools to assist with gathering data and surveying environments. Thanks to modern manufacturing and technology, along with an increased comprehension behind the aerodynamics of wing flaps, these vehicles are now a reality, though not without limitations. Given their diminutive size, FWMAVs are susceptible to real-world disturbances, such as wind gusts, and are sensitive to particular variations in their build quality. While external forces such as wind gusts can be reasonably bounded, the unknown variations in the state may be difficult to characterize or bound without affecting performance. To address these problems, an ADSMC is developed. First, the FWMAV model is converted from continuous-time to discretetime. Second, an ADSMC for the newly discretized FWMAV model is developed. Using this controller, the trajectory tracking performance of the FWMAV is assessed against a traditional discrete sliding mode controller, and is found to have a decreased chattering frequency and decreased control effort for the same task. Therefore, the ADSMC is assessed as the superior controller, despite being completely unaware of the model parameters or wind gust.Related Articles | Metrics
A Directional Locomotion Control of Cyborg Locusts for Complex Outdoor Environments Journal of Bionic Engineering. 2025, 22 (2): 596-607. DOI: 10.1007/s42235-024-00639-8
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The ability of cyborg locusts to achieve directional movement in complex outdoor environments is critical for search and rescue missions. Currently, there is a lack of research on motion control for cyborg locusts in outdoor settings. In this study, we developed cyborg locusts capable of performing directional locomotion in intricate outdoor environments, including jumping over obstacles, climbing slopes, traversing narrow pipelines, and accurately reaching predetermined targets along specified routes. We designed a miniature electrical backpack (10 mm × 10 mm, 0.75 g) capable of receiving stimulus parameters (frequency, duty ratio, and stimulation time) via Bluetooth commands from mobile phones. Electrical stimulation of locust sensory organs, such as the antennae and cercus, induced turning and jumping behaviors. Experimental testing of locust movement control was conducted under outdoor conditions with a short electrical stimulation interval. Results showed a positive correlation between locust turning angles and electrical stimulation parameters within a specified range, with an average jumping height exceeding 10 cm. Additionally, the success rate of locust turning and jumping behaviors correlated positively with the interval time between electrical stimulations. Adjusting these intervals during forward crawling phases increased the likelihood of the locusts jumping again. In conclusion, this study successfully achieved directional locomotion control of cyborg locusts outdoors, providing insights and references for advancing search and rescue capabilities.Related Articles | Metrics
Design and Performance Test of an H-shaped Bionic Piezoelectric Robot Based on the Standing Wave Principle Journal of Bionic Engineering. 2025, 22 (2): 608-625. DOI: 10.1007/s42235-025-00663-2
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In this paper, inspired by the running motion gait of a cheetah, an H-shaped bionic piezoelectric robot (H-BPR) based on the standing wave principle is proposed and designed. The piezoelectric robot realizes linear motion, turning motion, and turning motion with different radii by the voltage differential driving method. A prototype with a weight of 38 g and dimensions of 150 × 80 × 31 mm3 was fabricated. Firstly, the dynamics and kinematics of the piezoelectric robot were analyzed to obtain the trajectory of a point at the end of the piezoelectric robot leg. The motion principle of the piezoelectric robot was analyzed, and then the piezoelectric robot’s modal analysis and harmonic response analysis were carried out using finite element analysis software. Finally, an experimental setup was built to verify the effectiveness and high efficiency of the robot’s motion, and the effects of frequency, voltage, load, and height of the driving leg on the robot’s motion performance were discussed. The performance test results show that the piezoelectric robot has a maximum velocity of 66.79 mm/s at an excitation voltage of 320 V and a load capacity of 55 g. In addition, the H-BPR with unequal drive legs has better climbing performance, and the obtained conclusions are informative for selecting leg heights for piezoelectric robots.Related Articles | Metrics
Whole-Body Hybrid Torque-Position Control for Balancing with a New Wheeled Bipedal Robot Journal of Bionic Engineering. 2025, 22 (2): 626-641. DOI: 10.1007/s42235-025-00657-0
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The wheeled bipedal robots have great application potential in environments with a mixture of structured and unstructured terrain. However, wheeled bipedal robots have problems such as poor balance ability and low movement level on rough roads. In this paper, a novel and low-cost wheeled bipedal robot with an asymmetrical five-link mechanism is proposed, and the kinematics of the legs and the dynamics of the Wheeled Inverted Pendulum (WIP) are modeled. The primary balance controller of the wheeled bipedal robot is built based on the Linear Quadratic Regulator (LQR) and the compensation method of the virtual pitch angle adjusting the Center of Mass (CoM) position, then the whole-body hybrid torque-position control is established by combining attitude and leg controllers. The stability of the robot’s attitude control and motion is verified with simulations and prototype experiments, which confirm the robot’s ability to pass through complex terrain and resist external interference. The feasibility and reliability of the proposed control model are verified.Related Articles | Metrics
Design and Experimental Study of Special Elastic Leg Joint for Quadruped Robots Journal of Bionic Engineering. 2025, 22 (2): 642-653. DOI: 10.1007/s42235-024-00640-1
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In this paper, a novel passive flexible leg joint method is proposed with the aim of enhancing the impact buffering capability as well as reducing energy consumption. The innovative structure cleverly incorporates micro-plate springs, offering significant stiffness adjustment capabilities. To meet the stiffness requirements, the relationships between foot-ground contact force and the deformation force of the elastic component, as well as the influence of elastic component deformation and foot cushioning amplitude are comprehensively analyzed. With the aid of finite element optimization analysis, a single-leg experimental platform is designed, and the effectiveness and applicability of the novel structure are validated through experiments including unloaded free swinging, freely falling body motion and ground squats experiments. Comparative experiments results show the evident superiorities of the passive compliance joint.Related Articles | Metrics
Hydrodynamic Characteristic Analysis of a Biomimetic Underwater Vehicle-Manipulator System Journal of Bionic Engineering. 2025, 22 (2): 654-669. DOI: 10.1007/s42235-024-00646-9
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The propulsion mechanisms of biomimetic underwater vehicles using bionic undulatory fins have been extensively studied for their potential to enhance efficiency and maneuverability in underwater environments. However, the hydrodynamic interactions between the vehicle body, robotic manipulator, and fluctuating motion remain less explored, particularly in turbulent conditions. In this work, a Biomimetic Underwater Vehicle-Manipulator System (BUVMS) propelled using bionic undulatory fins is considered. The propulsion mechanism and hydrodynamic performance of fluctuating motion are analyzed by numerical simulation. The drag coefficients of the BUVMS at different Reynolds numbers are calculated, and the investigation of vortex generation during the motion of the BUVMS reveals that vortex binding and shedding are the key factors for propulsion generation. Various moving modes of the BUVMS are developed in conjunction with the propulsion mechanism. The hydrodynamic loads during the motion of the underwater robotic arm in a turbulent environment are analyzed. A simple motion strategy is proposed to reduce the effect of water drag on the manipulation of the robotic arm and on the overall stability of the BUVMS. The results of the hydrodynamic analysis offer systematic guidance for controlling underwater operations of the BUVMS.Related Articles | Metrics
Research on Mirror-Assisted Rehabilitation Training Method Based on Dual-Arm Robots Journal of Bionic Engineering. 2025, 22 (2): 670-683. DOI: 10.1007/s42235-025-00665-0
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This paper studies a mirror-assisted rehabilitation training method based on a dual-arm robot, which aims to provide an effective rehabilitation training program for patients with upper limb dysfunction due to stroke or other causes. During the mirror training task scenario, the subjects are visually guided to perform the mirror movement of both arms, and the dualarm robot is used to facilitate the mirror-assisted rehabilitation from the healthy side to the affected side. Adaptive impedance control and force field channel design ensure the stability and safety of the rehabilitation process. In the rehabilitation training, appropriate assistance forces are provided within the channel to correct trajectory deviations, ensuring that the subjects’ movement path aligns with the predetermined trajectory. Outside the channel, the superposition of stiffness and correction force fields prevents the subjects from deviating from the predetermined trajectory, thus avoiding injuries. In addition, the adaptive impedance control is capable of dynamically adjusting the impedance parameters according to the real-time state of the subjects, providing a personalized rehabilitation training program. This method significantly enhances both the safety and effectiveness of the rehabilitation training. The experimental results showed that the subjects’ motion flexibility and safety were significantly improved during the mirror-assisted rehabilitation training. This study offers a new approach for the future development of rehabilitation robotics with broad application potential.Related Articles | Metrics
A Soft Glove with Proprioceptive Sensing and Multi-modal Haptic Feedback for VR and Telerobotic Applications Journal of Bionic Engineering. 2025, 22 (2): 684-702. DOI: 10.1007/s42235-024-00642-z
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This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.Related Articles | Metrics
An Improved Bionic Piezoelectric Actuator for Eliminating the Backward Motion Journal of Bionic Engineering. 2025, 22 (2): 703-712. DOI: 10.1007/s42235-025-00652-5
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Piezoelectric actuators are widely utilized in positioning systems to realize nano-scale resolution. However, the backward motion always generates for some piezoelectric actuators, which reduces the working efficiency. Bionic motions have already been employed in the field of piezoelectric actuators to realize better performance. By imitating the movement form of seals, seal type piezoelectric actuator is capable to realize large operating strokes easily. Nevertheless, the conventional seal type piezoelectric actuator has a complicated structure and control system, which limits further applications. Hence, an improved bionic piezoelectric actuator is proposed to realize a long motion stroke and eliminate backward movement with a simplified structure and control method in this study. The composition and motion principle of the designed actuator are discussed, and the performance is investigated with simulations and experiments. Results confirm that the presented actuator effectively realizes the linear movement that has a large working stroke stably without backward motion. The smallest stepping displacement ΔL is 0.2 μm under 1 Hz and 50 V. The largest motion speed is 900 μm/s with 900 Hz and 120 V. The largest vertical and horizontal load are 250 g and 12 g, respectively. This work shows that the improved bionic piezoelectric actuator is feasible for eliminating backward motion and has a great working ability .Related Articles | MetricsLaser-induced and Conformal liquid-silicone Casting of oxalis-inspired graphene-based Piezoresistive Pressure Sensors Journal of Bionic Engineering. 2025, 22 (2): 713-726. DOI: 10.1007/s42235-024-00644-x
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Laser-Induced Graphene (LIG) is regarded as a promising sensor carrier due to its inherent three-dimensional porous structure. However, as two mutually exclusive properties of the pressure sensor, sensitivity and working range are difficult to be further improved by the single porous structure. Inspired by the unique geometry of Oxalis corniculata L. leaves, we here propose a novel method consist of laser pre-etching and inducing steps to fabricate LIG-based electrodes with a two-stage architecture featuring microjigsaw and microporous structures. The following injection of liquid-silicone significantly improves the friction resistance and bending reliability of LIG materials. The interface contact between external microjigsaw structures induces substantial resistance changes, and the internal microporous structure exhibits reversibility during dynamic deformation. Consequently, the jigsaw-like pressure sensor achieves a balanced performance with sensitivities of 3.64, 1.20 and 0.03 kPa-1 in pressure range of 0- 20, 20- 40 and 40 - 150 kPa, respectively. The bionic LIGbased pressure sensor serves as the core component and further integrated with an all-in-one wireless transmission system capable of monitoring various health parameters such as subtle pulse rates, heartbeat rhythms, sounds, etc., indicating broad prospects in future wearable electronics.Related Articles | Metrics
A Biomimetic Stress Field Modulation Strategy Inspired by Scorpion Compound Slit Sensilla Enabled High-Accuracy and Low-Power Positioning Sensor for Identifying the Load Incident Angles Journal of Bionic Engineering. 2025, 22 (2): 727-738. DOI: 10.1007/s42235-025-00661-4
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Numerous arthropods evolve and optimize sensory systems, enabling them to effectively adapt complex and competitive habitats. Typically, scorpions can precisely perceive the prey location with the lowest metabolic rate among invertebrates. This biological phenomenon contrasts sharply with engineered systems, which generally associates high accuracy with substantial energy consumption. Inspired by the Scorpion Compound Slit Sensilla (SCSS) with a stress field modulation strategy, a bionic positioning sensor with superior precision and minimal power consumption is developed for the first time, which utilizes the particular Minimum Positioning Units (MPUs) to efficiently locate vibration signals. The single MPU of the SCSS can recognize the direction of collinear loads by regulating the stress field distribution and further, the coupling action of three MPUs can realize all-angle vibration monitoring in plane. Experiments demonstrate that the bionic positioning sensor achieves 1.43 degrees of angle-error-free accuracy without additional energy supply. As a proof of concept, two bionic positioning sensors and machine learning algorithm are integrated to provide centimeter (cm)- accuracy target localization, ideally suited for the man-machine interaction. The novel design offers a new mechanism for the design of traditional positioning devices, improving precision and efficiency in both the meta-universe and real-world Internet-connected systems.Related Articles | Metrics
High-Performance Bionic Tactile Sensing Method for Temperature and Pressure Based on Triboelectric Nanogenerator and Micro-Thermoelectric Generator Journal of Bionic Engineering. 2025, 22 (2): 739-754. DOI: 10.1007/s42235-025-00651-6
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In intricate aquatic environments, enhancing the sensory performance of underwater actuators to ensure successful task execution is a significant challenge. To address this, a biomimetic tactile multimodal sensing approach is introduced in this study, based on TriboElectric NanoGenerator (TENG) and Micro-ThermoElectric Generator (MTEG). This method enables actuators to identify the material properties of underwater target objects and to sense grasping states, such as pressure and relative sliding. In this study, a multi-dimensional underwater bionic tactile perception theoretical model is established, and a bionic sensing prototype with a sandwich-type structure is designed. To verify the performance of pressure feedback and material perception, pertinent experiments are conducted. The experimental results reveal that within a pressure measurement range of 0–16 N, the detection error of the sensor is 1.81%, and the maximum pressure response accuracy achieves 2.672 V/N. The sensing response time of the sensor is 0.981 s. The recovery time of the sensor is 0.97 s. Furthermore, the exceptional fatigue resistance of the sensor is also demonstrated. Based on the frequency of the output voltage from the prototype, the sliding state of the target object relative to the actuator can be sensed. In terms of material identification, the temperature response accuracy of the sensor is 0.072 V/°C. With the assistance of machine learning methods, six characteristic materials are identified by the sensor under 7 N pressure, with a recognition accuracy of 92.4%. In complex marine environments, this method has great application potential in the field of underwater tactile perception.Related Articles | Metrics
Biomimetic Manipulation of Smooth Solid Surfaces for Vacuum High-Temperature and Vibration Environments Journal of Bionic Engineering. 2025, 22 (2): 755-766. DOI: 10.1007/s42235-024-00645-w
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In the fields of optoelectronics and semiconductors, reliable fixation and handling of brittle materials (glass, wafer, etc.) in high-temperature, vacuum, and vibration environments face particular technical challenges. These challenges include the inability of suction cups in a vacuum, the residue of chemical adhesives, and the easy damage of mechanical clamping. In this paper, fluorine-based bionic adhesive pads (FBAPs) obtained using molding technology to imitate gecko micropillar arrays are presented. FBAPs inhibit the substantial decay of adhesive properties at high temperatures and provide stable and reliable performance in vacuum and vibration environments. The results demonstrated that the decayed force values of the normal and tangential strength of the FBAP were only 9.01% and 5.82% of the planar samples when warmed up to 300 °C from 25 °C, respectively. In a vacuum, all FBAPs exhibit less than 20% adhesion attenuation, and in a vibrational environment, they can withstand accelerations of at least 4.27 g. The design of the microstructure arrays enables the realization of efficient and non-destructive separation through mechanical rotation or blowing. It provides a bionic material basis for the fixation of brittle materials on smooth surfaces under complex environments and for transportation automation.Related Articles | Metrics
3D Printed Gear-Based Quasi-Zero Stiffness Vibration Isolation Metastructure Journal of Bionic Engineering. 2025, 22 (2): 767-782. DOI: 10.1007/s42235-025-00659-y
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Traditional linear vibration isolators struggle to combine high load-bearing capacity with low-frequency vibration isolation, whereas nonlinear metastructure isolators can effectively fulfill both functions. This paper draws inspiration from the Quasi-Zero Stiffness (QZS) characteristics resulting from the buckling deformation of beams, and proposes a gear-based QZS structure by arranging beams in a circular array. We investigated the static mechanical behavior under different structural parameters, loading angles, and gear combinations through experiments and simulations, and demonstrated the mechanical performances could be effectively programmed. Subsequent vibration isolation tests on the double gears prove superior vibration isolation performance at low frequency while maintaining high load-bearing capacities. Additionally, a key contribution of our work is the development of a mathematical model to characterize the buckling behavior of the unit beam within the gear structure, with its accuracy validated through finite element analysis and experimental results. The gear’s modulus, number of teeth, and pressure angle are selected according to standard series, allowing the gear can be seamlessly integrated into existing mechanical systems in critical fields such as aerospace, military, and etc.Related Articles | Metrics
Graphene Oxide Sponge with Gradient Porosity for Moisture-Electric Generator Journal of Bionic Engineering. 2025, 22 (2): 783-792. DOI: 10.1007/s42235-024-00641-0
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Moisture can be utilized as a tremendous source of electricity by emerging moisture-electric generator (MEG). The directional moving of water molecules, which can be driven by gradient of functional groups and water evaporation, is vital for the electricity generation. Here, MEG composed of Graphene Oxide (GO-MEG) with gradient channels is constructed by one-step ice-templating technique, achieving a voltage of 0.48 V and a current of ~5.64 μA under humid condition. The gradient channels introduce Laplace pressure difference to the absorbed water droplets and electric potential between two side of the GO-MEG, facilitating the charge flow. Output voltage can be easily enhanced by increasing the structural gradient, reducing the channel size, incorporation of chemical gradient, or scaling up the number of GO-MEG units in series. This work not only provides insight for the working mechanism of GO-MEG with structural gradient, which can be applied to other functional materials, but also establishes a convenient and ecofriendly strategy to construct and finely tune the structural gradient in porous materials.Related Articles | Metrics
Dolphin-Inspired Skin Microvibrations Offer a Novel Pressure-Dominated Drag Reduction Mechanism Journal of Bionic Engineering. 2025, 22 (2): 793-804. DOI: 10.1007/s42235-024-00638-9
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The cutaneous ridges on dolphin skin have long been believed to effectively reduce friction drag, thereby contributing to overall drag reduction. However, since these skin ridges are oriented perpendicular to the swimming direction, they also generate additional pressure drag, raising questions about the impact of the shape-induced pressure forces on swimming. Inspired by the microvibrations observed on dolphin skin, we hypothesize that the microstructure on dolphin skin is not static but dynamically oscillates in the form of Longitudinal Micro-Ultrasonic Waves (LMUWs). To explore this, we carried out a series of Computational Fluid Dynamics (CFD) simulations based on Large Eddy Simulation (LES) model to investigate the impact of pressure drag on the total drag acting on an oscillating skin surface under realistic turbulent flow conditions. The results indicate that the dynamic skin oscillations induce a new dynamic Stokes boundary layer, which has the potential to convert pressure drag into a negative force, thereby reducing total drag under the influence of traveling LMUW excitations. Furthermore, a relative velocity ξ, defined as the difference between the wave speed c and the external flow speed U, is introduced to evaluate the drag-reduction effect dominated by pressure. The findings reveal that pressure drag remains negative when ξ >0. As ξ increases, the thrust effect induced by negative pressure becomes increasingly significant, ultimately counteracting friction drag and eliminating total drag. This pressure-dominated drag reduction mechanism thus demonstrates a novel strategy for the drag reduction technology and the potential of unveiling the mysteries behind dolphin swimming.Related Articles | Metrics
Mathematical Models of Scallop Locomotion and Optimal Design of Scallop-Inspired Robot Journal of Bionic Engineering. 2025, 22 (2): 805-821. DOI: 10.1007/s42235-025-00655-2
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Underwater jet propulsion bio-inspired robots have typically been designed based on soft-bodied organisms, exhibiting relatively limited forms of locomotion. Scallop, a bivalve organism capable of jet propulsion, holds significant importance in the study of underwater motion mechanisms. In this study, we present theoretical fluid mechanics analysis and modeling of the three distinct motion stages of scallops, providing parameterized descriptions of scallop locomotion mechanisms. Accordingly, three-stage adaptive motion control for the scallop robot and model-based robot configuration optimization design were achieved. An experimental platform and a robot prototype were built to validate the accuracy of the motion model and the effectiveness of the control strategy. Additionally, based on the models, future optimization directions for the robot are proposed.Related Articles | Metrics
Bioinspired Trailing Edge Serrations for Vertical Axis Wind Turbine Blades in Urban Environments: Performance Effects Journal of Bionic Engineering. 2025, 22 (2): 822-837. DOI: 10.1007/s42235-025-00660-5
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Biomimetics has recently emerged as an interesting approach to enhance renewable energy technologies. In this work, bioinspired Trailing Edge Serrations (TES) were evaluated on a typical Vertical Axis Wind Turbine (VAWT) airfoil, the DU06-W200. As noise reduction benefits of these mechanisms are already well-established, this study focuses on their impact on airfoil and VAWT performance. A saw-tooth geometry was chosen based on VAWT specifications and existing research, followed by a detailed assessment through wind tunnel tests using a newly developed aerodynamic balance. For a broad spectrum of attack angles and Reynolds numbers, lift, drag, and pitching moments were carefully measured. The results show that TES enhance the lift-to-drag ratio, especially in stalled conditions, and postpone stall at negative angles, expanding the effective performance range. A notable increase in pitching moment also is also observed, relevant for blade-strut joint design. Additionally, the impact on turbine performance was estimated using an analytical model, demonstrating excellent accuracy when compared against previous experimental results. TES offer a modest 2% improvement in peak performance, though they slightly narrow the optimal tip-speed ratio zone. Despite this, the potential noise reduction and performance gains make TES a valuable addition to VAWT designs, especially in urban settings.Related Articles | Metrics
Antibacterial Properties of Carbon Fiber/Polyether Ether Ketone Artificial Bone Composites Modified by Black Phosphorus Coating Assisted by Wet Chemical Nitration Surface Treatment Journal of Bionic Engineering. 2025, 22 (2): 838-850. DOI: 10.1007/s42235-025-00662-3
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The poor surface antibacterial properties are one of the important factors limiting the application of Carbon Fibers Reinforced Polyetheretherketone (CFR-P) composites as artificial bone replace materials. Some of the Two-Dimensional (2D) nanomaterials with unique lamellar structures and biological properties have been demonstrated to have excellent antibacterial properties. Antibacterial properties can be improved by feasible chemical strategies for preparing 2D nanomaterials coating on the surface of CFR-P. In this work, Black Phosphorus (BP) coating was prepared on the originally chemically inert CFR-P surface based on wet chemical pretreatment. The physical and chemical properties, including surface microstructure, chemical composition and state, roughness and hydrophilicity were characterized. The antibacterial ratios against Staphylococcus aureus (S. aureus), Escherichia coli (E. coli), and Streptococcus mutans (S. mutans) were evaluated. The results indicated that hydrophilicity of BP coating on CFR-P was significantly higher compared to that of the pure CFR-P. Wet chemical pretreatment using mixed acid reagents (concentrated sulfuric acid and concentrated nitric acid) introduced hydroxyl, carboxyl and nitro groups on CFR-P. The BP coating exhibited the antibacterial rate of over 98% against both S. aureus and E. coli. In addition, the antibacterial rate of BP coating against the main pathogenic bacteria of dental caries, Streptococcus mutans, reached 45%.Related Articles | MetricsAn Asynchronous Genetic Algorithm for Multi-agent Path Planning Inspired by Biomimicry Journal of Bionic Engineering. 2025, 22 (2): 851-865. DOI: 10.1007/s42235-024-00637-w
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To address the shortcomings of traditional Genetic Algorithm (GA) in multi-agent path planning, such as prolonged planning time, slow convergence, and solution instability, this paper proposes an Asynchronous Genetic Algorithm (AGA) to solve multi-agent path planning problems effectively. To enhance the real-time performance and computational efficiency of Multi-Agent Systems (MAS) in path planning, the AGA incorporates an Equal-Size Clustering Algorithm (ESCA) based on the K-means clustering method. The ESCA divides the primary task evenly into a series of subtasks, thereby reducing the gene length in the subsequent GA process. The algorithm then employs GA to solve each subtask sequentially. To evaluate the effectiveness of the proposed method, a simulation program was designed to perform path planning for 100 trajectories, and the results were compared with those of State-Of-The-Art (SOTA) methods. The simulation results demonstrate that, although the solutions provided by AGA are suboptimal, it exhibits significant advantages in terms of execution speed and solution stability compared to other algorithms.Related Articles | Metrics
An Improved Multi-objective Artificial Hummingbird Algorithm for Capacity Allocation of Supercapacitor Energy Storage Systems in Urban Rail Transit Journal of Bionic Engineering. 2025, 22 (2): 866-883. DOI: 10.1007/s42235-025-00653-4
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To address issues such as poor initial population diversity, low stability and local convergence accuracy, and easy local optima in the traditional Multi-Objective Artificial Hummingbird Algorithm (MOAHA), an Improved MOAHA (IMOAHA) was proposed. The improvements involve Tent mapping based on random variables to initialize the population, a logarithmic decrease strategy for inertia weight to balance search capability, and the improved search operators in the territory foraging phase to enhance the ability to escape from local optima and increase convergence accuracy. The effectiveness of IMOAHA was verified through Matlab/Simulink. The results demonstrate that IMOAHA exhibits superior convergence, diversity, uniformity, and coverage of solutions across 6 test functions, outperforming 4 comparative algorithms. A Wilcoxon rank-sum test further confirmed its exceptional performance. To assess IMOAHA’s ability to solve engineering problems, an optimization model for a multi-track, multi-train urban rail traction power supply system with Supercapacitor Energy Storage Systems (SCESSs) was established, and IMOAHA was successfully applied to solving the capacity allocation problem of SCESSs, demonstrating that it is an effective tool for solving complex Multi-Objective Optimization Problems (MOOPs) in engineering domains.Related Articles | Metrics
Hybrid Reptile-Snake Optimizer Based Channel Selection for Enhancing Alzheimer’s Disease Detection Journal of Bionic Engineering. 2025, 22 (2): 884-900. DOI: 10.1007/s42235-024-00636-x
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The global incidence of Alzheimer’s Disease (AD) is on a swift rise. The Electroencephalogram (EEG) signals is an effective tool for the identification of AD and its initial Mild Cognitive Impairment (MCI) stage using machine learning models. Analysis of AD using EEG involves multi-channel analysis. However, the use of multiple channels may impact the classification performance due to data redundancy and complexity. In this work, a hybrid EEG channel selection is proposed using a combination of Reptile Search Algorithm and Snake Optimizer (RSO) for AD and MCI detection based on decomposition methods. Empirical Mode Decomposition (EMD), Low-Complexity Orthogonal Wavelet Filter Banks (LCOWFB), Variational Mode Decomposition, and discrete-wavelet transform decomposition techniques have been employed for subbands-based EEG analysis. We extracted thirty-four features from each subband of EEG signals. Finally, a hybrid RSO optimizer is compared with five individual metaheuristic algorithms for effective channel selection. The effectiveness of this model is assessed by two publicly accessible AD EEG datasets. An accuracy of 99.22% was achieved for binary classification from RSO with EMD using 4 (out of 16) EEG channels. Moreover, the RSO with LCOWFBs obtained 89.68% the average accuracy for three-class classification using 7 (out of 19) channels. The performance reveals that RSO performs better than individual Metaheuristic algorithms with 60% fewer channels and improved accuracy of 4% than existing AD detection techniques.Related Articles | Metrics
Optimizing Cancer Classification and Gene Discovery with an Adaptive Learning Search Algorithm for Microarray Analysis Journal of Bionic Engineering. 2025, 22 (2): 901-930. DOI: 10.1007/s42235-025-00656-1
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Related Articles | MetricsDFNet: A Differential Feature-Incorporated Residual Network for Image Recognition Journal of Bionic Engineering. 2025, 22 (2): 931-944. DOI: 10.1007/s42235-025-00654-3
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Residual neural network (ResNet) is a powerful neural network architecture that has proven to be excellent in extracting spatial and channel-wise information of images. ResNet employs a residual learning strategy that maps inputs directly to outputs, making it less difficult to optimize. In this paper, we incorporate differential information into the original residual block to improve the representative ability of the ResNet, allowing the modified network to capture more complex and metaphysical features. The proposed DFNet preserves the features after each convolutional operation in the residual block, and combines the feature maps of different levels of abstraction through the differential information. To verify the effectiveness of DFNet on image recognition, we select six distinct classification datasets. The experimental results show that our proposed DFNet has better performance and generalization ability than other state-of-the-art variants of ResNet in terms of classification accuracy and other statistical analysis.Related Articles | Metrics
