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Figure 1 | Journal of NeuroEngineering and Rehabilitation

Figure 1

From: A swimming robot actuated by living muscle tissue

Figure 1

The Biomechatronic Robotic Platform. The top image is a photograph (side view) of the device (robot B1a) shortly after initial testing. The bottom image is a schematic (to scale) with the float and embedded controller removed, showing the main components of the system: semitendinosus muscles (M), suture attachments (s), Styrofoam float (F), electrode wires (w), cast silicone tail assembly (T), rigid Delrin backbone (D), rigid Delrin head piece (H), lithium batteries (B), compliant hinge segment (k), cylindrical tail mounting boss (a), encapsulated microcontroller, infra-red sensor, and stimulator unit (C).

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