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Muscular hydrostats, such as octopus arms or elephant trunks, lack bones entirely, endowing them with exceptional dexterity and reconfigurability. Key to their unmatched ability to control nearly infinite degrees of freedom is the architecture into which muscle fibers are weaved. Their arrangement is, effectively, the instantiation of a sophisticated mechanical program that mediates, and likely facilitates, the control and realization of complex, dynamic morphological reconfigurations. Here, by combining medical imaging, biomechanical data, live behavioral experiments, and numerical simulations, an octopus-inspired arm made of $\sim$200 continuous muscle groups is synthesized, exposing “mechanically intelligent” design and control principles broadly pertinent to dynamics and robotics. Such principles are mathematically understood in terms of storage, transport, and conversion of topological quantities, effected into complex 3D motions via simple muscle activation templates. These are in turn composed into higher-level control strategies that, compounded by the arm’s compliance, are demonstrated across challenging manipulation tasks, revealing surprising simplicity and robustness. 

Stretchable three-dimensional (3D) penetrating microelectrode arrays have potential utility in various fields, including neuroscience, tissue engineering, and wearable bioelectronics. These 3D microelectrode arrays can penetrate and conform to dynamically deforming tissues, thereby facilitating targeted sensing and stimulation of interior regions in a minimally invasive manner. However, fabricating custom stretchable 3D microelectrode arrays presents material integration and patterning challenges. In this study, we present the design, fabrication, and applications of stretchable microneedle electrode arrays (SMNEAs) for sensing local intramuscular electromyography signals ex vivo. We use a unique hybrid fabrication scheme based on laser micromachining, microfabrication, and transfer printing to enable scalable fabrication of individually addressable SMNEA with high device stretchability (60 to 90%). The electrode geometries and recording regions, impedance, array layout, and length distribution are highly customizable. We demonstrate the use of SMNEAs as bioelectronic interfaces in recording intramuscular electromyography from various muscle groups in the buccal mass ofAplysia. 

Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems continue to attract the attention of biologists and roboticists alike. In this article, we develop a three-dimensional model of a soft octopus arm, equipped with biomechanically realistic muscle actuation. Internal forces and couples exerted by all major muscle groups are considered. An energy-shaping control method is described to coordinate muscle activity so as to grasp and reach in three-dimensional space. Key contributions of this article are as follows: (i) modelling of major muscle groups to elicit three-dimensional movements; (ii) a mathematical formulation for muscle activations based on a stored energy function; and (iii) a computationally efficient procedure to design task-specific equilibrium configurations, obtained by solving an optimization problem in the Special Euclidean group $\text{SE}\left(3\right)$. Muscle controls are then iteratively computed based on the co-state variable arising from the solution of the optimization problem. The approach is numerically demonstrated in the physically accurate software environmentElastica. Results of numerical experiments mimicking observed octopus behaviours are reported. 

Abstract Motivated by a possible convergence of terrestrial limbless locomotion strategies ultimately determined by interfacial effects, we show how both 3D gait alterations and locomotory adaptations to heterogeneous terrains can be understood through the lens of local friction modulation. Via an effective-friction modeling approach, compounded by 3D simulations, the emergence and disappearance of a range of locomotory behaviors observed in nature is systematically explained in relation to inhabited environments. Our approach also simplifies the treatment of terrain heterogeneity, whereby even solid obstacles may be seen as high friction regions, which we confirm against experiments of snakes ‘diffracting’ while traversing rows of posts, similar to optical waves. We further this optic analogy by illustrating snake refraction, reflection and lens focusing. We use these insights to engineer surface friction patterns and demonstrate passive snake navigation in complex topographies. Overall, our study outlines a unified view that connects active and passive 3D mechanics with heterogeneous interfacial effects to explain a broad set of biological observations, and potentially inspire engineering design. 

Abstract Motivated by the need to interpret the results from a combined use ofin vivobrain Magnetic Resonance Elastography (MRE) and Diffusion Tensor Imaging (DTI), we developed a computational framework to study the sensitivity of single-frequency MRE and DTI metrics to white matter microstructure and cell-level mechanical and diffusional properties. White matter was modeled as a triphasic unidirectional composite, consisting of parallel cylindrical inclusions (axons) surrounded by sheaths (myelin), and embedded in a matrix (glial cells plus extracellular matrix). Only 2D mechanics and diffusion in the transverse plane (perpendicular to the axon direction) was considered, and homogenized (effective) properties were derived for a periodic domain containing a single axon. The numerical solutions of the MRE problem were performed with ABAQUS and by employing a sophisticated boundary-conforming grid generation scheme. Based on the linear viscoelastic response to harmonic shear excitation and steady-state diffusion in the transverse plane, a systematic sensitivity analysis of MRE metrics (effective transverse shear storage and loss moduli) and DTI metric (effective radial diffusivity) was performed for a wide range of microstructural and intrinsic (phase-based) physical properties. The microstructural properties considered were fiber volume fraction, and the myelin sheath/axon diameter ratio. The MRE and DTI metrics are very sensitive to the fiber volume fraction, and the intrinsic viscoelastic moduli of the glial phase. The MRE metrics are nonlinear functions of the fiber volume fraction, but the effective diffusion coefficient varies linearly with it. Finally, the transverse metrics of both MRE and DTI are insensitive to the axon diameter in steady state. Our results are consistent with the limited anisotropic MRE and co-registered DTI measurements, mainly in thecorpus callosum, available in the literature. We conclude that isotropic MRE and DTI constitutive models are good approximations for myelinated white matter in the transverse plane. The unidirectional composite model presented here is used for the first time to model harmonic shear stress under MRE-relevant frequency on the cell level. This model can be extended to 3D in order to inform the solution of the inverse problem in MRE, establish the biological basis of MRE metrics, and integrate MRE/DTI with other modalities towards increasing the specificity of neuroimaging. 

Inspired by the unique neurophysiology of the octopus, a hierarchical framework is proposed that simplifies the coordination of multiple soft arms by decomposing control into high‐level decision‐making, low‐level motor activation, and local reflexive behaviors via sensory feedback. When evaluated in the illustrative problem of a model octopus foraging for food, this hierarchical decomposition results in significant improvements relative to end‐to‐end methods. Performance is achieved through a mixed‐modes approach, whereby qualitatively different tasks are addressed via complementary control schemes. Herein, model‐free reinforcement learning is employed for high‐level decision‐making, while model‐based energy shaping takes care of arm‐level motor execution. To render the pairing computationally tenable, a novel neural network energy shaping (NN‐ES) controller is developed, achieving accurate motions with time‐to‐solutions 200 times faster than previous attempts. The hierarchical framework is then successfully deployed in increasingly challenging foraging scenarios, including an arena littered with obstacles in 3D space, demonstrating the viability of the approach. 

PurposeEstimating microstructural parameters of skeletal muscle from diffusion MRI (dMRI) signal requires understanding the relative importance of both microstructural and dMRI sequence parameters on the signal. This study seeks to determine the sensitivity of dMRI signal to variations in microstructural and dMRI sequence parameters, as well as assess the effect of noise on sensitivity. MethodsUsing a cylindrical myocyte model of skeletal muscle, numerical solutions of the Bloch‐Torrey equation were used to calculate global sensitivity indices of dMRI metrics (FA, RD, MD,,,) for wide ranges of microstructural and dMRI sequence parameters. The microstructural parameters were: myocyte diameter, volume fraction, membrane permeability, intra‐ and extracellular diffusion coefficients, and intra‐ and extracellulartimes. Two separate pulse sequences were examined, a PGSE and a generalized diffusion‐weighted sequence that accommodates a larger range of diffusion times. The effect of noise and signal averaging on the sensitivity of the dMRI metrics was examined by adding synthetic noise to the simulated signal. ResultsAmong the examined parameters, the intracellular diffusion coefficient has the strongest effect, and myocyte diameter is more influential than permeability for FA and RD. The sensitivity indices do not vary significantly between the two pulse sequences. Also, noise strongly affects the sensitivity of the dMRI signal to microstructural variations. ConclusionsWith the identification of key microstructural features that affect dMRI measurements, the reported sensitivity results can help interpret dMRI measurements of skeletal muscle in terms of the underlying microstructure and further develop parsimonious dMRI models of skeletal muscle.