CN111718835B - A device for simulating cell tissue mechanics - Google Patents

A device for simulating cell tissue mechanics Download PDF

Info

Publication number
CN111718835B
CN111718835B CN202010535902.0A CN202010535902A CN111718835B CN 111718835 B CN111718835 B CN 111718835B CN 202010535902 A CN202010535902 A CN 202010535902A CN 111718835 B CN111718835 B CN 111718835B
Authority
CN
China
Prior art keywords
film
layer
cell tissue
silicon rubber
syringe pump
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010535902.0A
Other languages
Chinese (zh)
Other versions
CN111718835A (en
Inventor
李一青
曹岩
贾峰
吴军武
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Xian Technological University
Original Assignee
Xian Technological University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xian Technological University filed Critical Xian Technological University
Priority to CN202010535902.0A priority Critical patent/CN111718835B/en
Publication of CN111718835A publication Critical patent/CN111718835A/en
Application granted granted Critical
Publication of CN111718835B publication Critical patent/CN111718835B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • C—CHEMISTRY; METALLURGY
    • C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
    • C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
    • C12M35/00—Means for application of stress for stimulating the growth of microorganisms or the generation of fermentation or metabolic products; Means for electroporation or cell fusion
    • C12M35/04—Mechanical means, e.g. sonic waves, stretching forces, pressure or shear stimuli

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Organic Chemistry (AREA)
  • Biotechnology (AREA)
  • Chemical & Material Sciences (AREA)
  • Genetics & Genomics (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Zoology (AREA)
  • Wood Science & Technology (AREA)
  • Sustainable Development (AREA)
  • Microbiology (AREA)
  • Biomedical Technology (AREA)
  • Cell Biology (AREA)
  • Biochemistry (AREA)
  • General Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Apparatus Associated With Microorganisms And Enzymes (AREA)
  • Materials For Medical Uses (AREA)

Abstract

The invention belongs to the technical field of application of flexible materials, in particular to the field of application of a software driver, and particularly relates to a cell tissue mechanics simulation device. The device simulates the movement of cell tissues and provides effective and real mechanical environment conditions for in-vitro organ culture and experiments of medicines in tissues and organs. The technical scheme of the invention comprises a syringe pump, a syringe pump controller and a software driver, wherein the software driver is sequentially connected with the syringe pump and the syringe pump controller; the soft driver structure comprises a cell tissue layer, a film, a support column, a silicon rubber layer, a cavity and a non-extensible material layer; the number of the supporting columns is two, and the supporting columns are symmetrically arranged on the silicon rubber layer; the cell tissue layer is attached to the film, two ends of the film are fixedly arranged between the two support columns, and the inextensible material layer is U-shaped and is arranged at the bottom of the silicon rubber layer; the support columns and the silicon rubber layers are formed by injection molding of silicon rubber; the film is an elastomer.

Description

一种细胞组织力学模拟装置A device for simulating cell tissue mechanics

技术领域：Technical field:

本发明属于柔性材料的应用技术领域，具体涉及一种软体驱动器的应用领域，特别是一种细胞组织力学模拟装置。The invention belongs to the technical field of application of flexible materials, and in particular relates to the application field of a soft drive, in particular to a cell tissue mechanics simulation device.

背景技术：Background technique:

目前针对组织器官生长物理环境及其构建的研究主要集中在力学作用机理和力学环境构建上，但国内外学者研究较多还是集中于器官的物理功能，对细胞组织的力学研究较少。然而随着近年来柔性材料和软体驱动器的发展，类器官技术的研究从器官层面向细胞组织层面深入。现研究的细胞组织力学模拟装置大多数为刚性材料，生物相容性差，且研究的力学性质单一。At present, the research on the physical environment of tissue and organ growth and its construction is mainly focused on the mechanism of mechanical action and the construction of the mechanical environment. However, most domestic and foreign scholars focus on the physical function of organs, and less research on the mechanics of cells and tissues. However, with the development of flexible materials and soft actuators in recent years, the research on organoid technology has deepened from the organ level to the cell tissue level. Most of the cell tissue mechanics simulation devices studied are rigid materials with poor biocompatibility, and the mechanical properties studied are single.

发明内容：Invention content:

有鉴于此，本发明提供一种细胞组织力学模拟装置，该装置模拟了细胞组织的运动，为体外器官培养及药物在组织和器官中的实验提供了有效及真实的力学环境条件。In view of this, the present invention provides a cell tissue mechanics simulation device, which simulates the movement of cell tissue, and provides effective and real mechanical environment conditions for in vitro organ culture and drug experiment in tissues and organs.

为解决现有技术存在问题，本发明的技术方案是:一种细胞组织力学模拟装置，包括注射泵和注射泵控制器，其特征在于：还包括软体驱动器，所述的软体驱动器依次与注射泵和注射泵控制器连接；In order to solve the existing problems in the prior art, the technical solution of the present invention is: a cell tissue mechanics simulation device, comprising a syringe pump and a syringe pump controller, characterized in that: it also includes a software driver, and the software driver is sequentially connected with the syringe pump Connect with the syringe pump controller;

所述软体驱动器结构包括细胞组织层、薄膜、支撑柱、硅橡胶层、空腔和不可延伸材料层；所述支撑柱有两个，并对称设置于硅橡胶层上；细胞组织层附着于薄膜上，薄膜的两端固设于两个支撑柱之间，不可延伸材料层为“U”型，设置于硅橡胶层底部；The soft actuator structure includes a cell tissue layer, a film, a support pillar, a silicone rubber layer, a cavity and an inextensible material layer; there are two support pillars, which are symmetrically arranged on the silicone rubber layer; the cell tissue layer is attached to the film Above, the two ends of the film are fixed between two supporting columns, and the non-extensible material layer is "U" shaped, and is arranged at the bottom of the silicone rubber layer;

所述的支撑柱和硅橡胶层，均由硅橡胶注塑而成；所述的薄膜为弹性体。The support column and the silicone rubber layer are both formed by injection molding of silicone rubber; the film is an elastic body.

进一步，薄膜与支撑柱之间胶合固定。Further, the film and the support column are glued and fixed.

进一步，薄膜为硅胶薄膜。Further, the film is a silica gel film.

进一步，不可延伸材料层的材质为纤维强化硅胶。Further, the material of the inextensible material layer is fiber-reinforced silica gel.

与现有技术相比，本发明的优点如下:Compared with prior art, advantage of the present invention is as follows:

1)本发明中的软体驱动器是不同刚性的结构层，上层是柔性较好硅橡胶，下层是刚度较大的纤维增强硅胶，该结构设计可以抑制空腔左、右、下三个方向的“无效形变”，减少了非线性力的变化，使得上方向达到最佳的力学性能；1) The soft actuator in the present invention is a structural layer with different rigidities. The upper layer is made of silicone rubber with better flexibility, and the lower layer is made of fiber-reinforced silica gel with higher rigidity. "Invalid deformation", reducing the change of nonlinear force, so that the upper direction can achieve the best mechanical properties;

2)本发明中的软体驱动器上的支撑柱能够对其薄膜起到支撑并传递作用力的功能；薄膜处于预紧状态时，预紧力的加载，使得在相同的条件下，可以同时研究细胞组织的拉伸、压缩；2) The support column on the soft driver in the present invention can support the film and transmit the force; when the film is in a pre-tightened state, the loading of the pre-tightened force makes it possible to study the cell simultaneously under the same conditions. Tissue stretching and compression;

3)本发明中的软体驱动器采用了“分层结构”，降低加工工艺难度，减少制造成本；3) The software driver in the present invention adopts a "layered structure", which reduces the difficulty of processing technology and reduces manufacturing costs;

4)本发明中的软体驱动器的纤维增强硅胶和硅橡胶层的材料相近，在两者粘合时，空腔密封性好；4) The fiber-reinforced silica gel of the software driver in the present invention is similar to the material of the silicone rubber layer, and when the two are bonded, the cavity sealing performance is good;

5)本发明装置成本低，易与操作，生物相容性好且可以准确模拟细胞组织的运动；适用于体外环境的细胞组织力学环境的研究，通过注射泵控制器对空腔内压力的控制，实现细胞组织层不同程度的拉伸和压缩效果。5) The device of the present invention is low in cost, easy to operate, has good biocompatibility and can accurately simulate the movement of cell tissue; it is suitable for the research on the mechanical environment of cell tissue in the in vitro environment, and the control of the pressure in the cavity by the syringe pump controller , to achieve different degrees of stretching and compression of the cell tissue layer.

附图说明：Description of drawings:

图1是本发明的细胞组织力学模拟装置原理图；Fig. 1 is the schematic diagram of the cell tissue mechanics simulation device of the present invention;

图2是本发明的软体驱动器在恒压(标准大气压)下的结构图；Fig. 2 is the structural diagram of software driver of the present invention under constant pressure (standard atmospheric pressure);

图3是本发明的软体驱动器在加压下的工作图；Fig. 3 is the working figure of software driver of the present invention under pressurization;

图4是本发明的软体驱动器在减压下的工作图；Fig. 4 is the working figure of software driver of the present invention under decompression;

图5是本发明的软体驱动器三维剖视图；Fig. 5 is a three-dimensional sectional view of the software driver of the present invention;

附图标记说明：1-细胞组织层，2-薄膜，3-支撑柱，4-硅橡胶层，5-空腔，6-不可延伸材料层，7-软体驱动器，8-注射泵，9-注射泵控制器。Explanation of reference numerals: 1-cell tissue layer, 2-membrane, 3-support column, 4-silicone rubber layer, 5-cavity, 6-inextensible material layer, 7-soft driver, 8-injection pump, 9- Syringe pump controller.

具体实施方式：Detailed ways:

为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

本实施例提供一种细胞组织力学模拟装置，如图1和5所示，包括软体驱动器7、注射泵8和注射泵控制器9，软体驱动器7依次与注射泵8和注射泵控制器9连接；注射泵控制器9主要是控制注射泵，实现注射泵对空腔5内流体的控制(其中空腔5中的流体为气态)，实现空腔形状和体积的变化，从而实现支撑柱3上力大小和方向的变化。This embodiment provides a cell tissue mechanics simulation device, as shown in Figures 1 and 5, comprising a software driver 7, a syringe pump 8 and a syringe pump controller 9, and the software driver 7 is connected to the syringe pump 8 and the syringe pump controller 9 in turn The syringe pump controller 9 mainly controls the syringe pump, realizes the control of the syringe pump on the fluid in the cavity 5 (wherein the fluid in the cavity 5 is gaseous), realizes the change of the shape and volume of the cavity, thereby realizing the support column 3 Changes in force magnitude and direction.

上述软体驱动器7结构包括细胞组织层1、薄膜2、支撑柱3、硅橡胶层4、空腔5和不可延伸材料层6；支撑柱3有两个，并对称设置于硅橡胶层4上；细胞组织层1附着于薄膜2上，薄膜2的两端胶合固设于两个支撑柱3之间，薄膜拉伸后采用硅胶粘合的方式固定在支撑柱上以产生预紧；不可延伸材料层6为“U”型，设置于硅橡胶层4底部，The structure of the above-mentioned soft driver 7 includes a cell tissue layer 1, a film 2, a support column 3, a silicone rubber layer 4, a cavity 5 and an inextensible material layer 6; there are two support columns 3, which are symmetrically arranged on the silicone rubber layer 4; The cell tissue layer 1 is attached to the film 2, and the two ends of the film 2 are glued and fixed between the two support columns 3. After the film is stretched, it is fixed on the support columns by silica gel bonding to produce pretension; the non-extensible material Layer 6 is "U"-shaped, and is arranged at the bottom of silicone rubber layer 4,

上述薄膜3为弹性体，一般采用医用硅胶薄膜，起到了细胞组织的载体和传递作用力作用，细胞组织附着在薄膜上；薄膜2通过支撑柱3上力的方向，对其薄膜2进行拉伸和压缩运动，细胞组织会随薄膜的受力而被拉伸和压缩(细胞生长一般是“贴壁生长”)。The above-mentioned film 3 is an elastic body, generally using a medical silicone film, which acts as a carrier of cell tissue and transmits force, and the cell tissue is attached to the film; the film 2 stretches the film 2 through the direction of the force on the support column 3 And compression movement, the cell tissue will be stretched and compressed with the force of the film (cell growth is generally "adherent growth").

上述支撑柱3和硅橡胶层4，均由硅橡胶注塑而成；The support column 3 and the silicone rubber layer 4 are both formed by injection molding of silicone rubber;

上述薄膜2和支撑柱3对细胞组织层进行拉伸或压缩；The above-mentioned film 2 and support column 3 stretch or compress the cell tissue layer;

上述硅橡胶层4是可延伸材料，通过其柔性属性为支撑体提供不同方向的力；The above-mentioned silicone rubber layer 4 is an extensible material, which provides the supporting body with forces in different directions through its flexible properties;

上述不可延伸材料层6的材质为纤维强化硅胶，为了加强硅橡胶的刚度。The above-mentioned inextensible material layer 6 is made of fiber-reinforced silicone, in order to strengthen the rigidity of the silicone rubber.

本发明“U”型不可延伸材料层6中的空腔内的压力是气压，由注射泵8提供，注射泵输入的气压大小由注射泵控制器9控制，压力不同，空腔的上方变形就不同。不可延伸材料层6的刚度大，主要是为了防止空腔5的左、右、下三个面变形过大产生不必要的非线性力学，增大研究难度。The pressure in the cavity in the "U"-shaped non-extensible material layer 6 of the present invention is air pressure, which is provided by the injection pump 8, and the air pressure input by the injection pump is controlled by the injection pump controller 9. If the pressure is different, the deformation above the cavity will be different. The high rigidity of the inextensible material layer 6 is mainly to prevent excessive deformation of the left, right, and lower surfaces of the cavity 5 and unnecessary nonlinear mechanics, which increases the difficulty of research.

本发明恒压、加压、减压下的软体驱动器的实施方式如下：The embodiment of the software driver under constant pressure, pressurization and decompression of the present invention is as follows:

恒压(标准大气压)下的软体驱动器，如图2所示，其中的空腔5内气压不变时，即注射泵8未向空腔内输入或输出气压，空腔5的体积大小不发生改变，S面不发生变化，但此时薄膜2被加载了一定的拉伸力(预紧力)，即薄膜处于“预紧”状态；细胞组织放在薄膜上培养，不受外界作用力，处于“平缓”状态，细胞组织层长度为S0。The software driver under constant pressure (standard atmospheric pressure), as shown in Figure 2, when the air pressure in the cavity 5 is constant, that is, the syringe pump 8 does not input or output air pressure into the cavity, the volume of the cavity 5 does not change. Change, the S surface does not change, but at this time the film 2 is loaded with a certain stretching force (pre-tightening force), that is, the film is in a "pre-tightening"state; cells and tissues are cultured on the film without external force, In the "smooth" state, the cell tissue layer length is S 0 .

加压下的软体驱动器，如图3所示，其中的空腔内气压增大，即注射泵8向空腔5内输送了气压，空腔5的体积变大，S面发生明显凸起，支撑柱3受到向外的力F，此时薄膜上的拉伸力变大，细胞组织层1受到拉伸力(起初的预紧力和后加的拉伸力)，处于“拉伸”状态，细胞组织层长度为S1。The software driver under pressure, as shown in Figure 3, the air pressure in the cavity increases, that is, the syringe pump 8 delivers air pressure to the cavity 5, the volume of the cavity 5 becomes larger, and the S surface is obviously raised, The support column 3 is subjected to an outward force F, and at this time, the stretching force on the film becomes larger, and the cell tissue layer 1 is subjected to the stretching force (the initial pre-tightening force and the subsequent stretching force), and is in a "stretched" state , the cell tissue layer length is S 1 .

减压下的软体驱动器，如图4所示，其中的空腔内气压减小，即注射泵从空腔内抽走了气压，空腔的体积变小，S面发生明显凹进。支撑柱3受到向内的力F，此时薄膜上的拉伸力变小，细胞组织层1受到压缩力，处于“压缩”状态，细胞组织层长度为S2。The software actuator under decompression, as shown in Figure 4, the air pressure in the cavity decreases, that is, the syringe pump pumps out the air pressure from the cavity, the volume of the cavity becomes smaller, and the S surface is obviously recessed. The support column 3 is subjected to an inward force F, at this time, the tensile force on the film becomes smaller, and the cell tissue layer 1 is subjected to a compressive force, and is in a "compressed" state, and the length of the cell tissue layer is S 2 .

图2-图4中的S1>S0>S2。S 1 >S 0 >S 2 in FIGS. 2-4 .

以上所述，仅为本发明的较佳实施例而已，并非用于限定本发明的保护范围。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention.

Claims (4)

1. A cell tissue mechanics simulation device, comprising a syringe pump (8) and a syringe pump controller (9), characterized in that: the device also comprises a soft driver (7), wherein the soft driver (7) is sequentially connected with the injection pump (8) and the injection pump controller (9);
the soft driver (7) structure comprises a cell tissue layer (1), a film (2), a support column (3), a silicon rubber layer (4), a cavity (5) and a non-extensible material layer (6); the number of the supporting columns (3) is two, and the two supporting columns are symmetrically arranged on the silicon rubber layer (4); the cell tissue layer (1) is attached to the film (2), two ends of the film (2) are fixedly arranged between the two support columns (3), and the inextensible material layer (6) is U-shaped and is arranged at the bottom of the silicon rubber layer (4);
the support column (3) and the silicon rubber layer (4) are both formed by injection molding of silicon rubber; the film (2) is an elastomer.
2. A cellular tissue mechanics simulation apparatus according to claim 1, wherein: the film (2) and the support column (3) are glued and fixed.
3. A device according to claim 1 or 2, characterized in that: the film (2) is a silica gel film.
4. A cellular tissue mechanics simulation device according to claim 3, wherein: the inextensible material layer (6) is made of fiber reinforced silica gel.
CN202010535902.0A 2020-06-12 2020-06-12 A device for simulating cell tissue mechanics Active CN111718835B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010535902.0A CN111718835B (en) 2020-06-12 2020-06-12 A device for simulating cell tissue mechanics

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010535902.0A CN111718835B (en) 2020-06-12 2020-06-12 A device for simulating cell tissue mechanics

Publications (2)

Publication Number Publication Date
CN111718835A CN111718835A (en) 2020-09-29
CN111718835B true CN111718835B (en) 2023-05-26

Family

ID=72566516

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010535902.0A Active CN111718835B (en) 2020-06-12 2020-06-12 A device for simulating cell tissue mechanics

Country Status (1)

Country Link
CN (1) CN111718835B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113073054A (en) * 2021-04-02 2021-07-06 陕西科技大学 Cell culture device capable of providing cyclic tensile stress stimulation and manufacturing method
CN113214991B (en) * 2021-05-28 2022-12-09 西安交通大学 Cell culture device for simulating cell mechanics microenvironment

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2818484Y (en) * 2005-07-15 2006-09-20 中国人民解放军第四军医大学 Cell tractive tension controller
CN1932511A (en) * 2006-09-22 2007-03-21 重庆大学 Sinusoidal tensile cell loader
CN201908092U (en) * 2010-11-08 2011-07-27 北京大学口腔医院 Cell cyclic compression and tension device
CN103805511A (en) * 2014-02-18 2014-05-21 国家纳米科学中心 Artery blood vessel simulation microfluid control device enabling direct observation under high-power objective
CN107988067A (en) * 2017-11-08 2018-05-04 西安外事学院 A kind of three-dimensional cell gradient mechanics loading experiment platform based on tissue given shape

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060270023A1 (en) * 2003-04-18 2006-11-30 Carnege Mellon University Three-dimentioal, flexible cell growth substrate and related methods
US7822457B2 (en) * 2003-11-25 2010-10-26 General Electric Company Compression paddle membrane and tensioning apparatus for compressing tissue for medical imaging purposes

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2818484Y (en) * 2005-07-15 2006-09-20 中国人民解放军第四军医大学 Cell tractive tension controller
CN1932511A (en) * 2006-09-22 2007-03-21 重庆大学 Sinusoidal tensile cell loader
CN201908092U (en) * 2010-11-08 2011-07-27 北京大学口腔医院 Cell cyclic compression and tension device
CN103805511A (en) * 2014-02-18 2014-05-21 国家纳米科学中心 Artery blood vessel simulation microfluid control device enabling direct observation under high-power objective
CN107988067A (en) * 2017-11-08 2018-05-04 西安外事学院 A kind of three-dimensional cell gradient mechanics loading experiment platform based on tissue given shape

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
孙晓雷 ; 马剑雄 ; 马信龙 ; .成骨细胞应力加载方式及生物力学特性的研究进展.中国骨与关节外科.2010,(第03期),第250-254页. *
张腊全 ; 张婷 ; 贾帅军 ; 刘建 ; 熊卓 ; .定向结构组织工程软骨支架的构建.航天医学与医学工程.2012,(第03期),第212-216页. *

Also Published As

Publication number Publication date
CN111718835A (en) 2020-09-29

Similar Documents

Publication Publication Date Title
CN111718835B (en) A device for simulating cell tissue mechanics
CN108161929B (en) A negative pressure driven pneumatic artificial muscle
CN100394906C (en) External counterpulsation driver
CN102579018B (en) A pulse condition collection contact device
CN110497395B (en) A bidirectional motion pneumatic flexible actuator and its working method
CN109223482B (en) A massage robot based on flexible drive
CN110757434A (en) Artificial muscle based on dielectric elastomer and adjustable stiffness intelligent fluid and its manufacturing method
CN104346987A (en) Heart chamber simulator driving mechanism
CN113214991B (en) Cell culture device for simulating cell mechanics microenvironment
CN111906811A (en) A fully flexible pneumatic actuator
CN107042518A (en) It is a kind of that there is the bionical frog software flippers for reversing open and close movement form
Xu et al. Fiber-reinforced flexible joint actuator for soft arthropod robots
Herzig et al. Model and validation of a highly extensible and tough actuator based on a ballooning membrane
CN111975807B (en) An air-controlled soft bionic manipulator
Xin et al. A novel biomimic soft snail robot aiming for gastrointestinal (GI) tract inspection
CN116333882B (en) Soft cell culture dish capable of realizing radial pulling and pressing and out-of-plane bending
CN107433611A (en) A kind of soft drive unit of energy pre-storage
CN208179547U (en) A kind of Pneumatic artificial muscle of negative pressure driving
CN104046564B (en) A kind of physiology environmental mechanics stimulates formula bioreactor system
CN116276942A (en) A negative pressure pneumatic artificial muscle driver capable of active and passive deformation
Erel et al. Development and Characterization of a Modular Soft Actuator Enabled Elbow Exoskeleton for Assistive Movements
CN111975808A (en) Air control soft bionic mechanical finger
CN107603878A (en) Cell culture apparatus and its method under a kind of in-vitro simulated pressing environment
CN2671556Y (en) External counterpulsation driving device
CN208308875U (en) A kind of cell culture apparatus for simulating massage effect

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant