Gear‐Switch‐Integrated Dual‐Mode Three‐Wheeled Exoskeleton that Empowers Cyborg Insects with Enhanced Open‐Loop Locomotion Control Precision and Load Capacity
Cyborg insects are potential alternatives to small artificial robots, with promising applications in areas such as confined space exploration. However, its low open‐loop locomotion control precision makes it difficult to perform tasks requiring precise control, while the number of sensors that can b...
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| Format: | Article |
| Language: | English |
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Wiley
2025-06-01
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| Series: | Advanced Intelligent Systems |
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| Online Access: | https://doi.org/10.1002/aisy.202400713 |
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| author | Rui Li Zezhong Zhang Duc Long Le Chen Lv Sun Woh Lye Hirotaka Sato |
| author_facet | Rui Li Zezhong Zhang Duc Long Le Chen Lv Sun Woh Lye Hirotaka Sato |
| author_sort | Rui Li |
| collection | DOAJ |
| description | Cyborg insects are potential alternatives to small artificial robots, with promising applications in areas such as confined space exploration. However, its low open‐loop locomotion control precision makes it difficult to perform tasks requiring precise control, while the number of sensors that can be carried is limited due to their low load capacity, which significantly limits its application scenarios. To this end, an exoskeleton is proposed herein, which significantly improves the locomotion control accuracy and load capacity of cyborg insects. The exoskeleton, with a peripheral size of 7.2 cm × 14 cm, employs three wheels to carry the load and control the direction of motion of the cyborg insect. The exoskeleton‐integrated cyborg insect excels in locomotion control precision. Without feedback control, it completes continuous circular and linear motions with minor offset errors. Compared to other cyborg insects, its load capacity is increased from less than 20–400 g or more, allowing it to be equipped with large, energy‐intensive sensors. In addition, the exoskeleton supports switching between high‐precision controlled motion and insect‐driven active exploration modes. This design broadens the application scenarios of the cyborg insect and opens the possibility of performing more complex tasks. |
| format | Article |
| id | doaj-art-bb485fefa6ee435fac33a72ec477c1bd |
| institution | OA Journals |
| issn | 2640-4567 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj-art-bb485fefa6ee435fac33a72ec477c1bd2025-08-20T02:35:56ZengWileyAdvanced Intelligent Systems2640-45672025-06-0176n/an/a10.1002/aisy.202400713Gear‐Switch‐Integrated Dual‐Mode Three‐Wheeled Exoskeleton that Empowers Cyborg Insects with Enhanced Open‐Loop Locomotion Control Precision and Load CapacityRui Li0Zezhong Zhang1Duc Long Le2Chen Lv3Sun Woh Lye4Hirotaka Sato5School of Mechanical & Aerospace Engineering Nanyang Technological University 50Nanyang Avenue Singapore 639798 SingaporeSchool of Mechanical & Aerospace Engineering Nanyang Technological University 50Nanyang Avenue Singapore 639798 SingaporeSchool of Mechanical & Aerospace Engineering Nanyang Technological University 50Nanyang Avenue Singapore 639798 SingaporeSchool of Mechanical & Aerospace Engineering Nanyang Technological University 50Nanyang Avenue Singapore 639798 SingaporeSchool of Mechanical & Aerospace Engineering Nanyang Technological University 50Nanyang Avenue Singapore 639798 SingaporeSchool of Mechanical & Aerospace Engineering Nanyang Technological University 50Nanyang Avenue Singapore 639798 SingaporeCyborg insects are potential alternatives to small artificial robots, with promising applications in areas such as confined space exploration. However, its low open‐loop locomotion control precision makes it difficult to perform tasks requiring precise control, while the number of sensors that can be carried is limited due to their low load capacity, which significantly limits its application scenarios. To this end, an exoskeleton is proposed herein, which significantly improves the locomotion control accuracy and load capacity of cyborg insects. The exoskeleton, with a peripheral size of 7.2 cm × 14 cm, employs three wheels to carry the load and control the direction of motion of the cyborg insect. The exoskeleton‐integrated cyborg insect excels in locomotion control precision. Without feedback control, it completes continuous circular and linear motions with minor offset errors. Compared to other cyborg insects, its load capacity is increased from less than 20–400 g or more, allowing it to be equipped with large, energy‐intensive sensors. In addition, the exoskeleton supports switching between high‐precision controlled motion and insect‐driven active exploration modes. This design broadens the application scenarios of the cyborg insect and opens the possibility of performing more complex tasks.https://doi.org/10.1002/aisy.202400713carry loadcyborg insectsexoskeletonexoskeleton‐integrated cyborg insectslocomotion control accuracy |
| spellingShingle | Rui Li Zezhong Zhang Duc Long Le Chen Lv Sun Woh Lye Hirotaka Sato Gear‐Switch‐Integrated Dual‐Mode Three‐Wheeled Exoskeleton that Empowers Cyborg Insects with Enhanced Open‐Loop Locomotion Control Precision and Load Capacity Advanced Intelligent Systems carry load cyborg insects exoskeleton exoskeleton‐integrated cyborg insects locomotion control accuracy |
| title | Gear‐Switch‐Integrated Dual‐Mode Three‐Wheeled Exoskeleton that Empowers Cyborg Insects with Enhanced Open‐Loop Locomotion Control Precision and Load Capacity |
| title_full | Gear‐Switch‐Integrated Dual‐Mode Three‐Wheeled Exoskeleton that Empowers Cyborg Insects with Enhanced Open‐Loop Locomotion Control Precision and Load Capacity |
| title_fullStr | Gear‐Switch‐Integrated Dual‐Mode Three‐Wheeled Exoskeleton that Empowers Cyborg Insects with Enhanced Open‐Loop Locomotion Control Precision and Load Capacity |
| title_full_unstemmed | Gear‐Switch‐Integrated Dual‐Mode Three‐Wheeled Exoskeleton that Empowers Cyborg Insects with Enhanced Open‐Loop Locomotion Control Precision and Load Capacity |
| title_short | Gear‐Switch‐Integrated Dual‐Mode Three‐Wheeled Exoskeleton that Empowers Cyborg Insects with Enhanced Open‐Loop Locomotion Control Precision and Load Capacity |
| title_sort | gear switch integrated dual mode three wheeled exoskeleton that empowers cyborg insects with enhanced open loop locomotion control precision and load capacity |
| topic | carry load cyborg insects exoskeleton exoskeleton‐integrated cyborg insects locomotion control accuracy |
| url | https://doi.org/10.1002/aisy.202400713 |
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