Biomimetic and Biohybrid Systems: 12th International Conference, Living Machines 2023, Genoa, Italy, July 10–13, 2023, Proceedings, Part I (Lecture Notes in Artificial Intelligence)

Preface
Organization
Contents – Part I
Contents – Part II
Human-Robot Interaction, Rehabilitation, and Learning
Simple Synthetic Memories of Robotic Touch
	1 Introduction
	2 Methods
		2.1 Robotic Setting
		2.2 Tactile Data Acquisition
		2.3 Bayesian Latent Variable Model
	3 Results
		3.1 Compression and Pattern Separation
		3.2 Pattern Completion
	4 Discussion
	References
Distributed Adaptive Control for Virtual Cyborgs: A Case Study for Personalized Rehabilitation
	1 Introduction
	2 Methods
	3 Results
	4 Discussion and Conclusion
	References
Robotic Active Tactile Sensing Inspired by Serotonergic Modulation Using Active Inference
	1 Introduction
	2 Methods
		2.1 Agent Model
		2.2 Active Inference
		2.3 Precision Modulation
		2.4 Model Tailored to Robotic Tactile Active Sensing
		2.5 Experimental Design
		2.6 Implementation
	3 Results
		3.1 Simulations
		3.2 Validation with Humanoid
	4 Discussion
		4.1 Limitation
	5 Conclusion
	A Appendix
		A.1 Python Scripts
		A.2 Experiment with Different Sensory Stimulation
		A.3 Experiment Videos
	References
Detecting Human Distraction from Gaze: An Augmented Reality Approach in the Robotic Environment
	1 Introduction
	2 The ARDIST Dataset
		2.1 Experimental Setup
		2.2 The ARDIST Description
	3 Conclusion and Future Work
	References
Learning Time and Recognition Rate Improvement of CNNs Through Transfer Learning for BMI Systems
	1 Introduction
	2 Datasets and Deep Learning Model
		2.1 Datasets
	3 Experiment Setting
		3.1 Condition Setting for Transfer Learning
	4 Results and Discussion
		4.1 BCI Competition IV2b Results
		4.2 CapiLab Dataset Result
	5 Conclusion
	References
Optimization of EMG-Derived Features for Upper Limb Prosthetic Control
	1 Introduction
	2 Materials and Methods
		2.1 Subjects and Experimental Setup
		2.2 Experimental Protocol
		2.3 Signal Processing and EMG-Derived Features Extraction
		2.4 Combinations of EMG-Derived Features
		2.5 Evaluation of EMG-Derived Features Combinations
	3 Results
		3.1 Identification of Optimal Sets of Features
		3.2 Evaluation of Performance of Different Sets of Features
	4 Discussion
	5 Conclusions
	References
Bioinspired Materials, Actuators, Sensors
A 3D-Printed Thermoresponsive Artificial Venus Flytrap Lobe Based on a Multilayer of Shape Memory Polymers
	1 Introduction
	2 Concept of a Thermoresponsive Multilayer AVF (TMA)
	3 Characterization of Multilayer Material and Bonding
		3.1 Material Characterization
		3.2 Characterization of Two-Way Shape Memory Effect
		3.3 Characterization of Bonding Strength
	4 Construction and Characterization of Thermoresponsive Multilayer AVF (TMA) Trap Lobe
		4.1 Multilayer Construction
		4.2 Identification of Ideal System Parameters to Achieve Curvature Inversion
		4.3 Characterization of Optimized TMA Trap Lobe Models
	5 Discussion
	6 Conclusion
	References
Charge-Dependent Flexural Rigidity of a Conductive Polymer Laminate for Bioinspired Non-thermal Compliance Modulation
	1 Introduction
	2 Experimental
		2.1 Laminate Fabrication
		2.2 Flexural Rigidity Measurement
	3 Results and Discussion
	4 Conclusions
	References
A 3D-Printed Biomimetic Porous Cellulose-Based Artificial Seed with Photonic Cellulose Nanocrystals for Colorimetric Humidity Sensing
	1 Introduction
	2 Experimental
		2.1 Preparation and Characterization of the Porous Cellulose-Based Material for 3D Printing
		2.2 From Natural Flying Seeds to 3D Printed Artificial Flying Seeds
		2.3 Cellulose Nanocrystals (CNCs) Photonic Crystal Humidity Sensor Fabrication and Characterization
	3 Results
		3.1 Characterization of the Porous Cellulose Material
		3.2 From Natural Flying Seeds to Artificial Flying Seeds
		3.3 Humidity Sensing with CNC Optical Crystals
	4 Conclusions
	References
FRESH-Printing of a Multi-actuator Biodegradable Robot Arm for Articulation and Grasping
	1 Introduction
	2 Experimental Materials and Methods
		2.1 Alginate Bioink Preparation
		2.2 Preparation of Gelatin Support Bath
		2.3 FRESH Printing of Alginate Robot Components
		2.4 Interfacing FRESH-Printed Alginate Components with External Pressure Control and Measurement Systems
		2.5 Design and Testing of FRESH-Printed Channels for Fluid Routing
		2.6 Design and Testing of a FRESH-Printed Alginate Robot Arm
	3 Results and Discussion
		3.1 FRESH-Printed Channels Successfully Transport Fluid Through Alginate Structures
		3.2 Compound FRESH-Printed Structure for Articulation and Grasping
	4 Conclusion
	References
Wrinkle-Free Sewing with Robotics: The Future of Soft Material Manufacturing
	1 Introduction
	2 Methodology
		2.1 Soft Compliant Fingers
		2.2 Wrinkles Removal
	3 Results
		3.1 Soft Compliant Fingers
		3.2 Wrinkles Removal
	4 Conclusions
	References
Bioinspired Soft Actuator Based on Photothermal Expansion of Biodegradable Polymers
	1 Introduction
	2 Materials and Methods
		2.1 Materials and Chemicals
		2.2 Methods
	3 Results
		3.1 Evaluation of the Photothermal Conversion Efficiency of PPL Blend
		3.2 Fabrication of the Photothermal Actuator
		3.3 Kinematics and Static of the Photothermal Actuator
	4 Conclusions
	References
Anisotropic Actuation in Salty Agarose Gel Actuators
	1 Introduction
	2 Results and Discussion
	3 Application
	4 Conclusion and Perspective
	References
Soft Electroactive Suction Cup with Dielectric Elastomer Actuators for Soft Robotics
	1 Introduction
	2 Design and Fabrication
		2.1 Design
		2.2 Fabrication
	3 Measurements
	4 Summary and Outlook
	References
Miniature Soil Moisture Sensors for a Root-Inspired Burrowing Growing Robot
	1 Introduction
	2 Materials and Methods
		2.1 Root-Inspired Growing Robot
		2.2 Sensorized Robotic Tip
		2.3 Sensors Characterization
	3 Results and Discussion
		3.1 Soil Moisture Sensor Characterization
		3.2 Robot Growing Results
		3.3 Validation
	4 Conclusion
	References
Soft Tubular Strain Sensors for Contact Detection
	1 Introduction
	2 Methods
		2.1 Sensor Design and Fabrication
		2.2 Sensor Characterization
		2.3 Contact Detection
	3 Results
		3.1 Strain and Resistance
		3.2 Mechanical Hysteresis
		3.3 Electromechanical Hysteresis
		3.4 Contact Detection
	4 Discussion
	5 Conclusion
	References
Bioderived Hygromorphic Twisted Actuator for Untethered Sustainable Systems
	1 Introduction
		1.1 Background: Hesperostipa Spartea
	2 Biological Investigation
		2.1 Analysis of Hesperostipa Spartea Geometry as a Hygroscopic Actuator
		2.2 Humidity Driven Strain Measurement
		2.3 Load Lifting Test
	3 Demonstrations of Harvesting Hesperostipa Spartea Seed as Hygromorphic Twisted Actuator
		3.1 Interlocking Systems
		3.2 Biohybrid Crawling Design and Development
	4 Conclusion
	References
Bioinspiration Under Water
Underactuated Robotic Fish Control: Maneuverability and Adaptability Through Proprioceptive Feedback
	1 Introduction
	2 Materials and Methods
		2.1 Modelling of the Travelling Wave
		2.2 Structure and Mechanism
		2.3 Control Strategy
		2.4 Experimental Set-Up and Performance Assessment
	3 Experimental Results
	4 Discussion
	References
Design and Performance of a Cownose Ray-Inspired Robot for Underwater Exploration
	1 Introduction
	2 Fin Design
		2.1 Cownose Ray Geometry and Fin Kinematics
		2.2 Bioinspired Fin Realization
	3 Mechanical Design of the Robot
		3.1 Central Body Design
		3.2 Robot Assembly
		3.3 Robot Control
	4 Experimental Results
		4.1 Rectilinear Motion
		4.2 Floating and Diving Maneuvers
		4.3 Left/Right Turning Maneuvers
	5 Conclusion
	References
Sucker Attachment and Detachment Patterns in Octopus Vulgaris
	1 Introduction
		1.1 Octopus’s Arm
		1.2 Octopus’s Sucker
	2 Method
		2.1 Animal Maintenance
		2.2 Video Recordings
		2.3 Video Analysis
		2.4 Morphology
		2.5 Statistical Analysis
	3 Results
		3.1 Sucker Attachment and Detachment Patterns
		3.2 Morphology
	4 Discussion
	References
Understanding Preload Force for Grasping Objects with Different Stiffness Using Sensorized Suction Cups
	1 Introduction
	2 Materials and Methods
		2.1 Design and Fabrication
	3 Results and Discussion
		3.1 Material Classification
		3.2 Optimal Suction Force
	4 Conclusion
	References
Development, Modeling, and Testing of a Passive Compliant Bistable Undulatory Robot
	1 Introduction
	2 Approach and Methodology
		2.1 Analytical Model
		2.2 Design Process
		2.3 Prototype
		2.4 Experimental Setup
	3 Results
	4 Conclusion
	References
Synthetic Nervous System Control of a Bioinspired Soft Grasper for Pick-and-Place Manipulation
	1 Introduction
	2 Methods
		2.1 Bioinspired Soft Grasper
		2.2 Simulation Environment
		2.3 Controller Design and Tuning
		2.4 Testing SNS Control on the Soft Grasper Platform
	3 Results and Discussion
		3.1 Force vs. Pressure Characterization for Soft Jaw
		3.2 Mapping Input Pressure to Radial Contraction in the Closure Muscle
		3.3 Controlling the Pick-and-Place Grasper with an SNS in Simulation
		3.4 Controller Validation on Physical Robot w/grasper
	4 Conclusions
	References
Invertebrate Locomotion and Perception Mechanisms and Thereof Inspired Systems
Fly H1-Cell Distance Estimation in a Monocular Virtual Reality Environment
	1 Introduction
	2 Methods
		2.1 Fly Virtual Reality (FlyVR) Setup
		2.2 Fly Preparation
		2.3 Electrophysiology
	3 Results
	4 Discussion
		4.1 Differences in the Absolute Spike Rate
		4.2 Modelling as a Complementary Approach to the Experimental Studies
	5 Conclusion
	References
A Dynamic Simulation of a Compliant Worm Robot Amenable to Neural Control
	1 Introduction
	2 Methods
		2.1 2D Worm Models
		2.2 3D Compliant Worm Model
		2.3 Synthetic Nervous System Controller
	3 Results
	4 Discussion
	5 Conclusions and Future Work
	References
Inchworm Locomotive Soft Robots Actuated by a Single Pneumatic Line
	1 Introduction
	2 Materials and Methods
		2.1 Concept Design
		2.2 Working Principle
		2.3 Fabrication
		2.4 Experimental Setups
	3 Results and Discussion
		3.1 Operational Frequency
		3.2 The Velocity of the Robot Versus the Presence of the Suction Cup
	4 Conclusion
	References
A Synthetic Nervous System for on and Off Motion Detection Inspired by the Drosophila melanogaster Optic Lobe
	1 Introduction
	2 Network Components
		2.1 Neural and Synaptic Models
		2.2 Neural Filters
	3 Network Design
		3.1 Input Processing
		3.2 Initial Filter Stage
		3.3 Motion Detectors
	4 Results
		4.1 Simulation Setup
		4.2 Individual EMD Stimulation
		4.3 Velocity Response
		4.4 Directional Selectivity
	5 Discussion and Future Work
	References
Driving Hexapods Through Insect Brain
	1 Introduction
	2 MB-Inspired Computational Model
		2.1 Learning Details
	3 Simulation Results
		3.1 Noise Robustness
	4 Experimental Results
	5 Conclusions
	References
Weighting Elementary Movement Detectors Tuned to Different Temporal Frequencies to Estimate Image Velocity
	1 Introduction
	2 Method
	3 Results
		3.1 Sinusoidal Stimulus
		3.2 Extension to More Complicated Spatial Structures
	4 Discussion
	References
Comparison of Proximal Leg Strain in Locomotor Model Organisms Using Robotic Legs
	1 Introduction
	2 Materials and Methods
		2.1 General Setup
		2.2 Legs
		2.3 Dynamic Scaling
		2.4 Data Analysis
	3 Results
		3.1 Strains Detected by CS-Like Sensors
		3.2 Undetected Strains
	4 Discussion
	References
An Insect-Inspired Soft Robot Controlled by Soft Valves
	1 Introduction
		1.1 Soft Robots
		1.2 Logic Modules
		1.3 Insect Leg Morphology and Walking Gaits
		1.4 Aim of the Study
	2 Materials and Methods
	3 Results
		3.1 Insect Leg Actuator
		3.2 Control Circuit
		3.3 Soft Robotic Walker
	4 Discussion
	References
Effects of Tarsal Morphology on Load Feedback During Stepping of a Robotic Stick Insect (Carausius Morosus) Limb
	1 Introduction
	2 Materials and Methods
		2.1 Tarsal Segment Scans
		2.2 Robotic Tarsus Construction
		2.3 Compliant Joint Characterization
		2.4 Stepping Experiments
	3 Results
		3.1 Compliant Joint Stiffness
		3.2 Strain Data
	4 Discussion
		4.1 Strain Magnitude
		4.2 Strain Profile
		4.3 Slipping Detection
		4.4 Compliant Joint Robustness
		4.5 Conclusions and Future Work
	References
Correction to: Biomimetic and Biohybrid Systems
	Correction to: F. Meder et al. (Eds.): Biomimetic and Biohybrid Systems, LNAI 14157, https://doi.org/10.1007/978-3-031-38857-6
Author Index