DOI: 10.5061/dryad.xd2547drh
title: Biohybrid hand actuated by multiple human muscle tissues

description: Cultured muscle tissue serves as a power source in biohybrid robots that
 demonstrate diverse motions. However, current designs typically only drive
 simple substrates on a small scale, limiting flexibility and
 controllability. To address this, we proposed a biohybrid hand with
 multi-jointed fingers powered by multiple muscle tissue actuators
 (MuMuTAs), bundles of thin muscle tissues. The MuMuTA can provide linear
 actuation with high contractile force (~8 mN) and high contractile length
 (~4 mm), which can be converted into the flexion of multi-jointed fingers
 by a cable-driven mechanism. We successfully powered the biohybrid hand
 achieving individual control of fingers and a variety of motions using
 different signaling controls. This study showcases the potential of MuMuTA
 as a driving source for advanced biohybrid robotics.
description: # Biohybrid hand actuated by multiple human muscle tissues
 [https://doi.org/10.5061/dryad.xd2547drh](https://doi.org/10.5061/dryad.xd2547drh) Cultured muscle tissue powers biohybrid robots, but current designs are limited in flexibility and control. We propose a biohybrid hand with multi-jointed fingers driven by muscle tissue actuators (MuMuTAs), which provide a high force (~8 mN) and length (~4 mm) for finger flexion via a cable-driven mechanism. We successfully controlled individual fingers and achieved various motions, demonstrating MuMuTAs' potential as a power source for advanced biohybrid robotics. This dataset represents the results of the experiments in this study. The file name corresponds to the figure number in the main text or the supplementary. ## Description of the data and file structure **In all files:** * cf: contractile force [mN] * ef: elastic force [mN] * V/mm: electric field [V/mm] * cl: contractile length [mm] * cd: contractile distance * ra: rotation angle [degree] * av: average * sd: standard deviation * tissue pattern: tissue with different size in Fig.2H * duration: the duration of the electrical stimulation [ms] **In file 2C.csv:** * degrees: angle [degree] * Gray_Value: brightness * sum: sum of brightness of degree(n) and degree(180-n) * average: average of sum/2 column * standardized brightness: (sum/2) / average **In file 2D.csv:** * day: culture days **In file 2E.csv:** * strain: the strain of muscle tissues **In file 2I.csv:** * 0.55V/mm, 1.5V/mm: the contractile force when the electric field is 0.55V/mm, 1.5V/mm. [mN] **In file 2J.csv:** * mm2: cross-sectional area of muscle tissue [mm^2] * cf/mm2: contractile force per unit sectional area [mN/mm^2] **In file 3A.csv:** * in sheet, in bundle: the contractile force of samples constructed with the method 'in sheet' and 'in bundle'. [mN] **In file 3B.csv:** * sample 1,2,3: 3 different samples (multiple muscle tissue actuator) tested * n: number of muscle tissue * relative cf: cf / (cf when number of muscle tissue = 1) **In file 4B.csv:** * time: time [second] * 1st, 2nd, 3rd joint: the rotation angle of the 1st, 2nd, 3rd joint of a robot finger. [degree] * total ra: sum of the ra of all joints. [degree] **In file 4C.csv:** * finger 1,2,3: the peak total angle of 3 different robot fingers. [degree] **In file 4D.csv:** * peak theta: the peak total angle of robot fingers. [degree] * relative peak theta: (peak theta) / (peak theta when the number of tissue is 8) **In file 5C.csv, 5E.csv:** * time: time [second] * locomotion: locomotion of the fingertips. [mm] * rotation: total rotation angle of the fingers. [degree] * little, ring, middle, index, thumb: the name of 5 different fingers **In file S3A.csv, S3B.csv:** * time: time (minute) * sample 1,2,3: relative contractile force of 3 different samples (single muscle tissue) tested * sample number: sample 1 or 2 or 3 * relative cf: cf/(cf when time=0) **In file S4B.csv:** * relative cd: cd/(cd when culture day = 30) * tissue 1,2,3: 3 different muscle tissue tested **In file S5.csv:** * temperature: temperature of the medium [degrees Celsius] * relative cf: cf/(cf when temperature = 37 degrees Celsius) **In file S6B.csv:** * tissue width: the width [mm] of the muscle tissue during the tissue construction.'1.5, 2, 3, 4, 5' corresponds to the 'a, b, c, d, e' of the tissue pattern. * tissue type: same as tissue pattern. **In file S9D.csv, S9E.csv:** * time: time [second] * left, middle, right: when the electrodes are on the left, in the middle, on the right of the multiple muscle tissue actuator. rotation angle [degree], locomotion [mm], **In file S10A.csv:** * total: the sum of the angular velocity of the 1st, 2nd, 3rd joint of the robot finger. [degree/second] * mav(3) (direction corrected): moving average of 3 terms. We inverted the positive and negative values for ease of observation. [degree/second] **In file S10D.csv:** * peak theta: the peak total angle of robot fingers during the actuation. [degree] * theta after: the total angle of robot fingers after the actuation [degree] **In file S12B.csv:** * VIE: volume integration of the electric field intensity with all muscle tissues in the multiple muscle tissue actuator. [V*cm^2] * only (figer name) on; only this finger is stimulated. * noglass, glass: the value of VIE in the model without glass, with glass. [V*cm^2]