Living tissues are still far from being used as practical components in biohybrid robots because of limitations in life span, sensitivity to environmental factors, and stringent culture procedures. Here, we introduce fungal mycelia as an easy-to-use and robust living component in biohybrid robots. We constructed two biohybrid robots that use the electrophysiological activity of living mycelia to control their artificial actuators. The mycelia sense their environment and issue action potential–like spiking voltages as control signals to the motors and valves of the robots that we designed and built. The paper highlights two key innovations: first, a vibration- and electromagnetic interference–shielded mycelium electrical interface that allows for stable, long-term electrophysiological bioelectric recordings during untethered, mobile operation; second, a control architecture for robots inspired by neural central pattern generators, incorporating rhythmic patterns of positive and negative spikes from the living mycelia. We used these signals to control a walking soft robot as well as a wheeled hard one. We also demonstrated the use of mycelia to respond to environmental cues by using ultraviolet light stimulation to augment the robots’ gaits.

中文翻译：

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由真菌菌丝体的电生理测量介导的机器人的感觉运动控制


由于寿命的限制、对环境因素的敏感性和严格的培养程序，活组织仍远未用作生物杂交机器人的实际组成部分。在这里，我们将真菌菌丝体作为生物杂交机器人中一种易于使用且强大的生命成分。我们构建了两个生物混合机器人，它们利用活菌丝体的电生理活性来控制它们的人工致动器。菌丝体感知它们的环境，并向我们设计和制造的机器人的电机和阀门发出类似动作电位的尖峰电压作为控制信号。该论文重点介绍了两项关键创新：首先，振动和电磁干扰屏蔽的菌丝体电接口，可在不受束缚的移动操作期间进行稳定、长期的电生理生物电记录;其次，受神经中枢模式生成器启发的机器人控制架构，结合了来自活菌丝体的正负尖峰的节奏模式。我们使用这些信号来控制一个行走的软机器人和一个轮式硬机器人。我们还演示了使用菌丝体来响应环境线索，通过使用紫外线刺激来增强机器人的步态。