Anatomical study of Coleopteran hind leg and its motion control via electric stimulation

• Main Author: Chong, Wen Jie
• Other Authors: Hirotaka Sato
• Format: Final Year Project
• Language: English
• Published: 2016
• Subjects: DRNTU::Engineering::Mechanical engineering
• Online Access: http://hdl.handle.net/10356/68436
• Institution: Nanyang Technological University

In this report, anatomical study of an insect (Mecynorrhina torquata, beetle) and its hind leg motion control via electrical stimulation was demonstrated. Anatomical studies show that the beetle hind leg contains three antagonistic pairs of muscles that controls protraction/retraction, levation/depression and extension/flexion respectively. The primary aim of the project is to achieve walking control of the beetle by eliciting hind leg motions using electrical stimulations. Extensive studies were done to understand the hind leg anatomy before determing responsible muscle groups and the electrode implantation points. The coherent link between the muscle group and its motion response was established. Further along the course of the project, the author seeks to introduce and implement alternative methods other than electrical stimulation to achieve desired leg motion. The spring and rubber band were attached to the beetle hind leg to create levation motion. The leg motions were graded by varying the stimlaution frequencies and motionered via the VICON 3D motion capture system. The findings documented will enable progress for future development of complete hind leg control and eventually a fully-functional biological walking cyborg. This report will include literature review, anatomical study, stimulation protocols and the experimental results and discsussion.