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Each single plant root has to move through the substrate, orienting itself along the gravity vector and locating water and nutrients. In the same way, the mechatronic apex can steer in all directions and it embeds a gravity sensor, a soil moisture gradient detector, as well as the electronics for sensory data acquisition and steering control. A bio-inspired algorithm reproducing the gravitropism and hydrotropism behaviors, typical of plants, was developed and tested on a purposive prototype of the mechatronic apex system, actuated by hydraulic pumps. Moreover, the design and testing of a novel bio-inspired osmotic actuator module, composed of three cells separated by couples of osmotic and ion-selective membranes, is also presented. Preliminary prototypes developed in acrylic material for testing the gravitropism and hydrotropism behaviors are shown.","grobid_abstract_attachment_id":"46196350"},"document_type":"paper","pre_hit_view_count_baseline":null,"quality":"high","language":"en","title":"A miniaturized mechatronic system inspired by plant roots","broadcastable":true,"draft":null,"has_indexable_attachment":true,"indexable":true}}["work"]; window.loswp.workCoauthors = [31205931]; window.loswp.locale = "en"; window.loswp.countryCode = "SG"; window.loswp.cwvAbTestBucket = ""; window.loswp.designVariant = "ds_vanilla"; window.loswp.fullPageMobileSutdModalVariant = "control"; window.loswp.useOptimizedScribd4genScript = false; window.loswp.appleClientId = 'edu.academia.applesignon';</script><script defer="" src="https://accounts.google.com/gsi/client"></script><div class="ds-loswp-container"><div class="ds-work-card--grid-container"><div class="ds-work-card--container js-loswp-work-card"><div 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data-moment_callback="onGoogleOneTapEvent" id="g_id_onload"></div><div class="ds-top-related-works--grid-container"><div class="ds-related-content--container ds-top-related-works--container"><h2 class="ds-related-content--heading">Related papers</h2><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="0" data-entity-id="12419798" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/12419798/A_Miniaturized_Mechatronic_System_Inspired_by_Plant_Roots_for_Soil_Exploration">A Miniaturized Mechatronic System Inspired by Plant Roots for Soil Exploration</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="31205931" href="https://independent.academia.edu/CeciliaLaschi">Cecilia Laschi</a></div><p class="ds-related-work--metadata ds2-5-body-xs">IEEE/ASME Transactions on Mechatronics, 2000</p><div 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translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="1" data-entity-id="12419844" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/12419844/A_Preliminary_Study_of_a_Robotic_Probe_For_Soil_Exploration_Inspired_By_Plant_Root_Apexes">A Preliminary Study of a Robotic Probe For Soil Exploration Inspired By Plant Root Apexes</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="31205931" href="https://independent.academia.edu/CeciliaLaschi">Cecilia Laschi</a></div><p class="ds-related-work--metadata ds2-5-body-xs">2008</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"A Preliminary Study of a Robotic Probe 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style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/90559194/Plantoid_plant_inspired_robot_for_subsoil_exploration_and_environmental_monitoring"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="4" data-entity-id="2877675" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/2877675/Inspiration_from_plant_roots_a_robotic_root_apex_for_soil_exploration">Inspiration from plant roots: a robotic root apex for soil exploration</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="2298827" href="https://unifi.academia.edu/StefanoMancuso">Stefano Mancuso</a></div><p class="ds-related-work--metadata ds2-5-body-xs">2008</p><p class="ds-related-work--abstract ds2-5-body-sm">Abstract In an attempt to compensate for their sessile nature, plants have developed growth responses to deal with the copious and rapid changes in their environment. The process by which plant roots expand in soil involves water uptake through osmosis and imbibition, and an overall increase in size by cell division. Each root apex has sensors to get information from the environment, which is then transduced, processed, and used to direct the growth towards regions of the soil with the best minerals and water availability.</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"Inspiration from plant roots: a robotic root apex for soil exploration","attachmentId":30813683,"attachmentType":"pdf","work_url":"https://www.academia.edu/2877675/Inspiration_from_plant_roots_a_robotic_root_apex_for_soil_exploration","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" 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ds2-5-body-xs">Bioinspiration & Biomimetics, 2013</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"Osmotic actuation modelling for innovative biorobotic solutions inspired by the plant kingdom","attachmentId":66992686,"attachmentType":"pdf","work_url":"https://www.academia.edu/48314733/Osmotic_actuation_modelling_for_innovative_biorobotic_solutions_inspired_by_the_plant_kingdom","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/48314733/Osmotic_actuation_modelling_for_innovative_biorobotic_solutions_inspired_by_the_plant_kingdom"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="6" data-entity-id="108240585" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/108240585/Another_Lesson_from_Plants_The_Forward_Osmosis_Based_Actuator">Another Lesson from Plants: The Forward Osmosis-Based Actuator</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="277914147" href="https://independent.academia.edu/GianLuigiPuleo">Gian Luigi Puleo</a></div><p class="ds-related-work--metadata ds2-5-body-xs">PLoS ONE, 2014</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"Another Lesson from Plants: The Forward Osmosis-Based Actuator","attachmentId":106711305,"attachmentType":"pdf","work_url":"https://www.academia.edu/108240585/Another_Lesson_from_Plants_The_Forward_Osmosis_Based_Actuator","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/108240585/Another_Lesson_from_Plants_The_Forward_Osmosis_Based_Actuator"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="7" data-entity-id="94270019" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/94270019/A_Novel_Growing_Device_Inspired_by_Plant_Root_Soil_Penetration_Behaviors">A Novel Growing Device Inspired by Plant Root Soil Penetration Behaviors</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="157265952" href="https://independent.academia.edu/AliSadeghi122">Ali Sadeghi</a></div><p class="ds-related-work--metadata ds2-5-body-xs">PLoS ONE, 2014</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"A Novel Growing Device Inspired by Plant Root Soil Penetration Behaviors","attachmentId":96773875,"attachmentType":"pdf","work_url":"https://www.academia.edu/94270019/A_Novel_Growing_Device_Inspired_by_Plant_Root_Soil_Penetration_Behaviors","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/94270019/A_Novel_Growing_Device_Inspired_by_Plant_Root_Soil_Penetration_Behaviors"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="8" data-entity-id="36849690" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/36849690/A_study_on_plant_root_apex_morphology_as_a_model_for_soft_robots_moving_in_soil">A study on plant root apex morphology as a model for soft robots moving in soil</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="6752439" href="https://cornell.academia.edu/AnandMishra">Anand Kumar Mishra</a></div><p class="ds-related-work--abstract ds2-5-body-sm">Plants use many strategies to move efficiently in soil, such as growth from the tip, tropic movements, and morphological changes. In this paper, we propose a method to translate morphological features of Zea mays roots into a new design of soft robots that will be able to move in soil. The method relies on image processing and curve fitting techniques to extract the profile of Z. mays primary root. We implemented an analytic translation of the root profile in a 3D model (CAD) to fabricate root-like probes by means of 3D printing technology. Then, we carried out a comparative analysis among the artificial root-like probe and probes with different tip shapes (cylindrical, conical, elliptical, and parabolic) and diameters (11, 9, 7, 5, and 3 mm). The results showed that the energy consumption and the penetration force of the bioinspired probe are better with respect to the other shapes for all the diameters of the developed probes. For 100 mm of penetration depth and 7 mm of probe diameter, the energy consumption of the bioinspired probe is 89% lesser with respect to the cylindrical probe and 26% lesser with respect to the conical probe. The penetration performance of the considered tip shapes was evaluated also by means of numerical simulations, obtaining a good agreement with the experimental results. Additional investigations on plant root morphology , movement strategies, and material properties can allow the development of innovative bioinspired solutions exploitable in challenging environments. This research can bring to breakthrough scenarios in different fields, such as exploration tasks, environmental monitoring, geotechnical studies, and medical applications.</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"A study on plant root apex morphology as a model for soft robots moving in soil","attachmentId":56802297,"attachmentType":"pdf","work_url":"https://www.academia.edu/36849690/A_study_on_plant_root_apex_morphology_as_a_model_for_soft_robots_moving_in_soil","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/36849690/A_study_on_plant_root_apex_morphology_as_a_model_for_soft_robots_moving_in_soil"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div><div class="ds-related-work--container js-wsj-grid-card" data-collection-position="9" data-entity-id="59599537" data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/59599537/Swarming_Behavior_Emerging_from_the_Uptake_Kinetics_Feedback_Control_in_a_Plant_Root_Inspired_Robot">Swarming Behavior Emerging from the Uptake–Kinetics Feedback Control in a Plant-Root-Inspired Robot</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="83306695" href="https://iit-it.academia.edu/EmanuelaDottore">Emanuela Dottore</a></div><p class="ds-related-work--metadata ds2-5-body-xs">Applied Sciences</p><p class="ds-related-work--abstract ds2-5-body-sm">This paper presents a plant root behavior-based approach to defining the control architecture of a plant-root-inspired robot, which is composed of three root-agents for nutrient uptake and one shoot-agent for nutrient redistribution. By taking inspiration and extracting key principles from the uptake of nutrient, movements and communication strategies adopted by plant roots, we developed an uptake–kinetics feedback control for the robotic roots. Exploiting the proposed control, each root is able to regulate the growth direction, towards the nutrients that are most needed, and to adjust nutrient uptake, by decreasing the absorption rate of the most plentiful one. Results from computer simulations and implementation of the proposed control on the robotic platform, Plantoid, demonstrate an emergent swarming behavior aimed at optimizing the internal equilibrium among nutrients through the self-organization of the roots. Plant wellness is improved by dynamically adjusting nutrients prior...</p><div class="ds-related-work--ctas"><button class="ds2-5-text-link ds2-5-text-link--inline js-swp-download-button" data-signup-modal="{"location":"wsj-grid-card-download-pdf-modal","work_title":"Swarming Behavior Emerging from the Uptake–Kinetics Feedback Control in a Plant-Root-Inspired Robot","attachmentId":73440215,"attachmentType":"pdf","work_url":"https://www.academia.edu/59599537/Swarming_Behavior_Emerging_from_the_Uptake_Kinetics_Feedback_Control_in_a_Plant_Root_Inspired_Robot","alternativeTracking":true}"><span class="material-symbols-outlined" style="font-size: 18px" translate="no">download</span><span class="ds2-5-text-link__content">Download free PDF</span></button><a class="ds2-5-text-link ds2-5-text-link--inline js-wsj-grid-card-view-pdf" href="https://www.academia.edu/59599537/Swarming_Behavior_Emerging_from_the_Uptake_Kinetics_Feedback_Control_in_a_Plant_Root_Inspired_Robot"><span class="ds2-5-text-link__content">View PDF</span><span class="material-symbols-outlined" style="font-size: 18px" translate="no">chevron_right</span></a></div></div></div></div><div class="ds-sticky-ctas--wrapper js-loswp-sticky-ctas hidden"><div class="ds-sticky-ctas--grid-container"><div class="ds-sticky-ctas--container"><button class="ds2-5-button js-swp-download-button" data-signup-modal="{"location":"continue-reading-button--sticky-ctas","attachmentId":46196350,"attachmentType":"pdf","workUrl":null}">See full PDF</button><button class="ds2-5-button ds2-5-button--secondary js-swp-download-button" data-signup-modal="{"location":"download-pdf-button--sticky-ctas","attachmentId":46196350,"attachmentType":"pdf","workUrl":null}"><span class="material-symbols-outlined" style="font-size: 20px" translate="no">download</span>Download PDF</button></div></div></div><div class="ds-below-fold--grid-container"><div class="ds-work--container js-loswp-embedded-document"><div class="attachment_preview" data-attachment="Attachment_46196350" style="display: none"><div class="js-scribd-document-container"><div class="scribd--document-loading js-scribd-document-loader" style="display: block;"><img alt="Loading..." src="//a.academia-assets.com/images/loaders/paper-load.gif" /><p>Loading Preview</p></div></div><div style="text-align: center;"><div class="scribd--no-preview-alert js-preview-unavailable"><p>Sorry, preview is currently unavailable. 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