Papers by Nick Hockings
The hands and feet account for half of the complexity of the musculoskeletal system, while the sk... more The hands and feet account for half of the complexity of the musculoskeletal system, while the skin of the hand is specialised with many important structures. Much of the subtlety of the mechanism of the hand lies in the soft tissues, and the tactile and proprioceptive sensitivity depends on the large number of mechanoreceptors embedded in specific structures of the soft tissues. This thesis investigates synthetic materials and manufacturing techniques to enable building robots that reproduce the biomechanics and tactile sensitivity of vertebrates – histomimetic robotics. The material and mechanical anatomy of the hand is reviewed, highlighting difficulty of numerical measurement in soft-tissue anatomy, and the predictive nature of descriptive anatomical knowledge. The biomechanical mechanisms of the hand and their support of sensorimotor control are presented. A palate of materials and layup techniques are identified for emulating ligaments, joint surfaces, tendon networks, sheaths, soft matrices, and dermal structures. A method for thermoplastically drawing fine elastic fibres, with liquid metal amalgam cores, for connecting embedded sensors is demonstrated. The performance requirements of skeletal muscles are identified. Two classes of muscle-like bulk MEMS electrostatic actuators are shown theoretically to be capable of meeting these requirements. Means to manufacture them, and their additional application as mechanoreceptors are described. A novel machine perception algorithm is outlined as a solution to the problem of measuring soft tissue anatomy, CAD/CAE/CNC for layup of histomimetic robots, and sensory perception by such robots. The results of the work support the view that histomimetic robotics is a viable approach, and identify a number of areas for further investigation including: polymer modification by graft-polymerisation, automated layup tools, and machine perception.
Austrian Association for Pattern Recognition (OAGM) Workshop, 2023
This paper presents a novel method for classifying postural behaviour in sows using synthetic dat... more This paper presents a novel method for classifying postural behaviour in sows using synthetic data from Unreal Engine 5 and UnrealGT combined with a 3D neural network. Traditional 2D CNNs, like YOLO, are not designed to use depth information, and are sensitive to camera angles and lighting variations. These issues can compromise accuracy in diverse environments such as animal farms. Our approach overcomes these by using depth information and generating synthetic data with variation of scene parameters. We employed the Samsung Labs TR3D Network for object detection due to its proven capabilities in 3D object detection with the SUNRGB-D Dataset. Our findings highlight the benefits of synthetic data and the potential of 3D neural networks in complex environments, setting a direction for future research.
The hands and feet account for half of the complexity of the musculoskeletal system, while the sk... more The hands and feet account for half of the complexity of the musculoskeletal system, while the skin of the hand is specialised with many important structures. Much of the subtlety of the mechanism of the hand lies in the soft tissues, and the tactile and proprioceptive sensitivity depends on the large number of mechanoreceptors embedded in specific structures of the soft tissues. This thesis investigates synthetic materials and manufacturing techniques to enable building robots that reproduce the biomechanics and tactile sensitivity of vertebrates – histomimetic robotics. The material and mechanical anatomy of the hand is reviewed, highlighting difficulty of numerical measurement in soft-tissue anatomy, and the predictive nature of descriptive anatomical knowledge. The biomechanical mechanisms of the hand and their support of sensorimotor control are presented. A palate of materials and layup techniques are identified for emulating ligaments, joint surfaces, tendon networks, sheaths...
2014 IEEE-RAS International Conference on Humanoid Robots, 2014
This paper presents a novel method for making ligamentous articulations for robots. Ligamentous j... more This paper presents a novel method for making ligamentous articulations for robots. Ligamentous joints are widely found in animals, but they have been of limited application in robotics due to lack of analogous synthetic materials. The method presented combines 3D printing, tow laying and thermoplastic welding which enables manufacturing of this type of structure.
Thesis Chapters by Nick Hockings
The hands and feet account for half of the complexity of the musculoskeletal system, while the sk... more The hands and feet account for half of the complexity of the musculoskeletal system, while the skin of the hand is specialised with many important structures. Much of the subtlety of the mechanism of the
hand lies in the soft tissues, and the tactile and proprioceptive sensitivity depends on the large number of mechanoreceptors embedded in specific structures of the soft tissues.
This thesis investigates synthetic materials and manufacturing techniques to enable building robots that reproduce the biomechanics and tactile sensitivity of vertebrates – histomimetic robotics.
The material and mechanical anatomy of the hand is reviewed, highlighting difficulty of numerical measurement in soft-tissue anatomy, and the predictive nature of descriptive anatomical knowledge.
The biomechanical mechanisms of the hand and their support of sensorimotor control are presented.
A palate of materials and layup techniques are identified for emulating ligaments, joint surfaces, tendon networks, sheaths, soft matrices, and dermal structures. A method for thermoplastically drawing fine elastic fibres, with liquid metal amalgam cores, for connecting embedded sensors is demonstrated.
The performance requirements of skeletal muscles are identified. Two classes of muscle-like bulk MEMS electrostatic actuators are shown theoretically to be capable of meeting these requirements.
Means to manufacture them, and their additional application as mechanoreceptors are described.
A novel machine perception algorithm is outlined as a solution to the problem of measuring soft tissue anatomy, CAD/CAE/CNC for layup of histomimetic robots, and sensory perception by such robots.
The results of the work support the view that histomimetic robotics is a viable approach, and identify a number of areas for further investigation including: polymer modification by graft-polymerisation, automated layup tools, and machine perception.
Drafts by Nick Hockings
The french biologist Georges Cuvier was a prominent early opponent of evolution. Cuvier claimed t... more The french biologist Georges Cuvier was a prominent early opponent of evolution. Cuvier claimed that evolution was impossible because any change to existing body plans would be deleterious. Mathematically Cuvier's objection agrees with the formally proven "No free lunch" theorems for search and learning. What is interesting is why Cuvier was wrong in the case of biological evolution. This paper uses the evolution and morphogenetics of metazoan animals as the example for discussion.
It is shown that highly evolvable genoptype→phenotype parameterizations are exceptional, and must capture required mutual information between components of viable phenotypes. Parameterisation through the mechanisms of morphogenesis is essential to the evolvability of animals, especially: cell lines, relative anatomical coordinates, sequential growth, and remodelling on environmental information.
Natural selection can act on gene-specific mutability and gene regulatory networks, leading to evolvable parameterizations. Such evolution of evolvability may be a necessary component of biological evolution.
Frontiers in Bioengineering and Biotechnology, 2020
We present some currently unused morphogenetic mechanisms from evolutionary biology and guideline... more We present some currently unused morphogenetic mechanisms from evolutionary biology and guidelines for transfer to evolutionary robotics. (1) DNA patterns providing mutation of mutability, lead to canalization of evolvable bauplans, via kin selection. (2) Morphogenetic mechanisms (i) Epigenetic cell lines provide functional cell types, and identification of cell descent. (ii) Local anatomical coordinates based on diffusion of morphogens, facilitate evolvable genetic parameterisations of complex phenotypes (iii) Remodelling in response to mechanical forces facilitates robust production of well integrated phenotypes of greater complexity than the genome.
An approach is proposed for the tractable application of mutation-of-mutability and morphogenetic mechanisms in evolutionary robotics. The purpose of these methods, is to facilitate production of robot mechanisms of the subtlety, efficiency and efficacy of the musculoskeletal and dermal systems of animals.
Cuvier's objection is a fundamental problem in evolution, closely related to the No Free Lunch th... more Cuvier's objection is a fundamental problem in evolution, closely related to the No Free Lunch theorems, which concerns how it is possible for mutation to produce viable changes in complex phenotypes. Solutions to Cuvier's objection are intrinsically domain specific, because they embody information about co-dependencies within the phenotype. Morphogenet-ics provides such a solution in biology, which is potentially beneficial to transfer to mechatronic and soft robotics. The current knowledge of morphogenesis, genetic control and evolution in multicellular animals is examined, with emphasis on vertebrates and the development of complex functional anatomy. These morphogenetic mechanisms allow body plans to be expressed such that their fitness function is smooth with respect to mutation, such that they can be optimised in micro-evolution. We show that true innovation in major transitions is fundamentally different from micro-evolution, because it involves the discovery of new information about co-dependencies in viable phenotypes for the new domain of niches. Cuvier's objection plays an important role in the evolution of mutability, via kin-selection restricting evolution to mutationally safe genotypes. The conditions leading to major transitions and diversification indicate an important role for ecological evoluton of niches, driven by changing geography, climate and relations with other species, as a driver of genetic evolution.
Selecting an appropriate genotypic representation is critically important when solving problems w... more Selecting an appropriate genotypic representation is critically important when solving problems with Evolutionary Algorithms, as it defines both the types of solutions generated, and the ease with which we traverse the space of possible solutions to reach promising areas.
When evolving physical robot morphologies, direct inspiration can be taken from the genotype-phenotype mappings observed in natural life. Morphogenesis in multicellular animals exploits mechanisms including growth, cell lines, diffusion gradients, biochemical clocks, symmetry, iteration, sequential development and remodelling to generate natural life-
forms adapted to diverse niches, from a small palette of base materials and small number of basic body plans.
The current state of knowledge is examined in evolutionary genetics and morphogenesis of animals, especially vetebrates. We propose (i) an artificial genome abstracting emergent properties of the DNA genome (ii) how a minimal gene regulatory network could be designed to generate an adaptable body plan, and (iii) describe a method to rapidly adapt and optimise such a body plan to diverse niches.
Conference Presentations by Nick Hockings
Dynamic Walking, 2014
The purpose of this presentation is to make anatomical/surgical science accessible for engineers ... more The purpose of this presentation is to make anatomical/surgical science accessible for engineers seeking to build machines that emulate the mechanisms of animal bodies.
The structure (anatomy & histology), failure (pathology) and repair (surgery) of vertebrate bodies have been studied scientifically since Andreas Vesalius in the 16th century. However the medical sciences developed largely separately from engineering, consequently the two bodies of knowledge have different terms and concepts.
Dynamic Walking , 2014
The purpose of this presentation is to make anatomical/surgical science accessible for engineers ... more The purpose of this presentation is to make anatomical/surgical science accessible for engineers seeking to build machines that emulate the mechanisms of animal bodies.
The structure (anatomy & histology), failure (pathology) and repair (surgery) of vertebrate bodies have been studied scientifically since Andreas Vesalius in the 16th century. However the medical sciences developed largely separately from engineering, consequently the two bodies of knowledge have different terms and concepts.
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Papers by Nick Hockings
Thesis Chapters by Nick Hockings
hand lies in the soft tissues, and the tactile and proprioceptive sensitivity depends on the large number of mechanoreceptors embedded in specific structures of the soft tissues.
This thesis investigates synthetic materials and manufacturing techniques to enable building robots that reproduce the biomechanics and tactile sensitivity of vertebrates – histomimetic robotics.
The material and mechanical anatomy of the hand is reviewed, highlighting difficulty of numerical measurement in soft-tissue anatomy, and the predictive nature of descriptive anatomical knowledge.
The biomechanical mechanisms of the hand and their support of sensorimotor control are presented.
A palate of materials and layup techniques are identified for emulating ligaments, joint surfaces, tendon networks, sheaths, soft matrices, and dermal structures. A method for thermoplastically drawing fine elastic fibres, with liquid metal amalgam cores, for connecting embedded sensors is demonstrated.
The performance requirements of skeletal muscles are identified. Two classes of muscle-like bulk MEMS electrostatic actuators are shown theoretically to be capable of meeting these requirements.
Means to manufacture them, and their additional application as mechanoreceptors are described.
A novel machine perception algorithm is outlined as a solution to the problem of measuring soft tissue anatomy, CAD/CAE/CNC for layup of histomimetic robots, and sensory perception by such robots.
The results of the work support the view that histomimetic robotics is a viable approach, and identify a number of areas for further investigation including: polymer modification by graft-polymerisation, automated layup tools, and machine perception.
Drafts by Nick Hockings
It is shown that highly evolvable genoptype→phenotype parameterizations are exceptional, and must capture required mutual information between components of viable phenotypes. Parameterisation through the mechanisms of morphogenesis is essential to the evolvability of animals, especially: cell lines, relative anatomical coordinates, sequential growth, and remodelling on environmental information.
Natural selection can act on gene-specific mutability and gene regulatory networks, leading to evolvable parameterizations. Such evolution of evolvability may be a necessary component of biological evolution.
An approach is proposed for the tractable application of mutation-of-mutability and morphogenetic mechanisms in evolutionary robotics. The purpose of these methods, is to facilitate production of robot mechanisms of the subtlety, efficiency and efficacy of the musculoskeletal and dermal systems of animals.
When evolving physical robot morphologies, direct inspiration can be taken from the genotype-phenotype mappings observed in natural life. Morphogenesis in multicellular animals exploits mechanisms including growth, cell lines, diffusion gradients, biochemical clocks, symmetry, iteration, sequential development and remodelling to generate natural life-
forms adapted to diverse niches, from a small palette of base materials and small number of basic body plans.
The current state of knowledge is examined in evolutionary genetics and morphogenesis of animals, especially vetebrates. We propose (i) an artificial genome abstracting emergent properties of the DNA genome (ii) how a minimal gene regulatory network could be designed to generate an adaptable body plan, and (iii) describe a method to rapidly adapt and optimise such a body plan to diverse niches.
Conference Presentations by Nick Hockings
The structure (anatomy & histology), failure (pathology) and repair (surgery) of vertebrate bodies have been studied scientifically since Andreas Vesalius in the 16th century. However the medical sciences developed largely separately from engineering, consequently the two bodies of knowledge have different terms and concepts.
The structure (anatomy & histology), failure (pathology) and repair (surgery) of vertebrate bodies have been studied scientifically since Andreas Vesalius in the 16th century. However the medical sciences developed largely separately from engineering, consequently the two bodies of knowledge have different terms and concepts.
hand lies in the soft tissues, and the tactile and proprioceptive sensitivity depends on the large number of mechanoreceptors embedded in specific structures of the soft tissues.
This thesis investigates synthetic materials and manufacturing techniques to enable building robots that reproduce the biomechanics and tactile sensitivity of vertebrates – histomimetic robotics.
The material and mechanical anatomy of the hand is reviewed, highlighting difficulty of numerical measurement in soft-tissue anatomy, and the predictive nature of descriptive anatomical knowledge.
The biomechanical mechanisms of the hand and their support of sensorimotor control are presented.
A palate of materials and layup techniques are identified for emulating ligaments, joint surfaces, tendon networks, sheaths, soft matrices, and dermal structures. A method for thermoplastically drawing fine elastic fibres, with liquid metal amalgam cores, for connecting embedded sensors is demonstrated.
The performance requirements of skeletal muscles are identified. Two classes of muscle-like bulk MEMS electrostatic actuators are shown theoretically to be capable of meeting these requirements.
Means to manufacture them, and their additional application as mechanoreceptors are described.
A novel machine perception algorithm is outlined as a solution to the problem of measuring soft tissue anatomy, CAD/CAE/CNC for layup of histomimetic robots, and sensory perception by such robots.
The results of the work support the view that histomimetic robotics is a viable approach, and identify a number of areas for further investigation including: polymer modification by graft-polymerisation, automated layup tools, and machine perception.
It is shown that highly evolvable genoptype→phenotype parameterizations are exceptional, and must capture required mutual information between components of viable phenotypes. Parameterisation through the mechanisms of morphogenesis is essential to the evolvability of animals, especially: cell lines, relative anatomical coordinates, sequential growth, and remodelling on environmental information.
Natural selection can act on gene-specific mutability and gene regulatory networks, leading to evolvable parameterizations. Such evolution of evolvability may be a necessary component of biological evolution.
An approach is proposed for the tractable application of mutation-of-mutability and morphogenetic mechanisms in evolutionary robotics. The purpose of these methods, is to facilitate production of robot mechanisms of the subtlety, efficiency and efficacy of the musculoskeletal and dermal systems of animals.
When evolving physical robot morphologies, direct inspiration can be taken from the genotype-phenotype mappings observed in natural life. Morphogenesis in multicellular animals exploits mechanisms including growth, cell lines, diffusion gradients, biochemical clocks, symmetry, iteration, sequential development and remodelling to generate natural life-
forms adapted to diverse niches, from a small palette of base materials and small number of basic body plans.
The current state of knowledge is examined in evolutionary genetics and morphogenesis of animals, especially vetebrates. We propose (i) an artificial genome abstracting emergent properties of the DNA genome (ii) how a minimal gene regulatory network could be designed to generate an adaptable body plan, and (iii) describe a method to rapidly adapt and optimise such a body plan to diverse niches.
The structure (anatomy & histology), failure (pathology) and repair (surgery) of vertebrate bodies have been studied scientifically since Andreas Vesalius in the 16th century. However the medical sciences developed largely separately from engineering, consequently the two bodies of knowledge have different terms and concepts.
The structure (anatomy & histology), failure (pathology) and repair (surgery) of vertebrate bodies have been studied scientifically since Andreas Vesalius in the 16th century. However the medical sciences developed largely separately from engineering, consequently the two bodies of knowledge have different terms and concepts.