DOI: 10.5061/dryad.pvmcvdnvg
title: Data from: Wirelessly steerable bioelectronic neuromuscular robots adapting neurocardiac junctions

description: Biological motions of native muscle tissues rely on the nervous system to
 interface movement with the surrounding environment. The neural
 innervation of muscles, crucial for regulating movement, is the
 fundamental infrastructure for swiftly responding to changes in body
 tissue requirements. This study introduces a bioelectronic neuromuscular
 robot integrated with the motor nervous system through electrical synapses
 to evoke cardiac muscle activities and steer robotic motion. Serving as an
 artificial brain and wirelessly regulating selective neural activation to
 initiate robot fin motion, a wireless frequency multiplexing bioelectronic
 device is used to control the robot. Frequency multiplexing bioelectronics
 enables the control of the robot locomotion speed and direction by
 modulating the flapping of the robot fins through the wireless motor
 innervation of cardiac muscles. The robots demonstrated an average
 locomotion speed of ~0.52 ± 0.22 millimeters per second, fin-flapping
 frequency up to 2.0 hertz, and turning locomotion path curvature of ~0.11
 ± 0.04 radians per millimeter. These systems will contribute to the
 expansion of biohybrid machines into the brain-to-motor frontier for
 developing autonomous biohybrid systems capable of advanced adaptive motor
 control and learning.
description: # Data from: Wirelessly steerable bioelectronic neuromuscular robots
 adapting neurocardiac junctions
 [https://doi.org/10.5061/dryad.pvmcvdnvg](https://doi.org/10.5061/dryad.pvmcvdnvg) ## Description of the data and file structure ### Overview This dataset contains data and structural models generated from the experiment. The presented dataset is needed to generate figures and results for the article titled 'Wirelessly steerable bioelectronic neuromuscular robots adapting neurocardiac junctions'. ### Data from the figures Measurement data needed to reproduce the figures in the article titled 'Wirelessly steerable bioelectronic neuromuscular robots adapting neurocardiac junctions'. File 1_name: Figure 2E.xlsx, description: data of the relative expression levels of Cx43/Cx36 in iPSC-MNs and iPSC-CMs, evaluated by Western blotting. File 2_name: Figure 2F.xlsx, description: data of the traces of the temporal membrane potential changes in the iPSC-MNs and iPSC-CMs in response to the electrical stimulation of iPSC-MNs. File 3_name: Figure 2G.xlsx, description: data of the traces of the temporal membrane potential changes in the iPSC-MNs and iPSC-CMs in response to the electrical stimulation of iPSC-CMs. File 4_name: Figure 3H.xlsx, description: data of the alignment index for cultured iPSC-MNs and iPSC-CMs on the fin and the bioelectronic device. File 5_name: Figure 3I.xlsx, description: data of the relative protein expression levels of a-actinin, troponin T, and b-tubulin of the iPSC-MNs and iPSC-CMs on the robot. File 6_name: Figure 4B.xlsx, description: data of the in-plane output voltage distributions when the flexible PCB-based wireless bioelectronic device was placed ~5 mm above the two power amplifiers. File 7_name: Figure 4C.xlsx, description: data of the output voltage signals from the wireless bioelectronic device under signal transmission with a duration time of 0.2 ms and a frequency of 100 Hz at 6.78 and 13.56 MHz. File 8_name: Figure 4D.xlsx, description: data of the power amplifier voltage dependencies on output voltages from the wireless bioelectronic device. File 9_name: Figure 5B.xlsx, description: data of the angular displacements of the robot fin at different pacing frequencies. File 10_name: Figure 5C.xlsx, description: data of the threshold voltages to initiate cardiac muscle contraction in the neurocardiac and cardiac muscle-only systems. File 11_name: Figure 5D.xlsx, description: data of the actuation performance of robots for 5 weeks. File 12_name: Figure 6A_Interdigital.xlsx, description: data of the input signal mode dependency on the actuation timing of the fins when the signal mode is interdigital. File 13_name: Figure 6A_Time-differential.xlsx, description: data of the input signal mode dependency on the actuation timing of the fins when the signal mode is time-differential. File 14_name: Figure 6B.xlsx, description: data of the optical flow analyses when the right and left fins were separately activated at different times. File 15_name: Figure 7A.xlsx, description: data of the locomotion trajectory of a neuromuscular robot under different transmission signals. File 16_name: Figure 7C.xlsx, description: data of the average locomotion speed of neuromuscular robots. File 17_name: Figure 7D.xlsx, description: data of the locomotion trajectory of a turning neuromuscular robot and its linear and angular displacements. File 18_name: Figure S7C,D.xlsx, description: data of the membrane potential changes under the electrical stimulation of MNs after administering 200 mM carbenoxolone into the iPSC-CM compartment as a gap junction blocker and the membrane potential change in CMs before administrating CBX. File 19_name: Figure S8.xlsx, description: data of the traces of the temporal membrane potential changes in the iPSC-MNs and iPSC-CMs without electrical stimulation. File 20_name: Figure S12C.xlsx, description: data of the measured density of neuromuscular robots. File 21_name: Figure S14D,E.xlsx, description: data of the Young’s modulus of the CNT/gelatin hydrogels and the strain–stress curves of the CNT/gelatin and gelatin hydrogels. File 22_name: Figure S16C.xlsx, description: data of the Spontaneous-firing activity from the iPSC-MNs cultured on a well plate under the media timeline with switching to the 100% iPSC-CM medium on day 9. File 23_name: Figure S23.xlsx, description: data of the peak-to-peak output voltages along the z-axis from the wireless bioelectronic device under signal transmission at 6.78 and 13.56 MHz. File 24_name: Figure S24.xlsx, description: data of the output voltage signals from the wireless bioelectronic device in air and medium. File 25_name: Figure S26B.xlsx, description: data of the angular displacements of the fin of the cardiac muscle-only robot at ~1 Hz pacing File 26_name: Figure S26C.xlsx, description: data of the average locomotion speed of the cardiac muscle-only robots. File 27_name: Figure S27A.xlsx, description: data of the arbitrary wave form where rectangular pulses (pulse width: 0.2 ms, frequency: 10 Hz) were repeated in an ~1 s interval. File 28_name: Figure S27B.xlsx, description: data of the generated signals from the wireless bioelectronic device using the arbitrary wave form. File 29_name: Figure S28.xlsx, description: data of the deflection of the fin induced by a cardiac muscle passive tension force (1 Hz pacing). File 30_name: Figure S29A.xlsx, description: data of the frequency-switching performance of the wireless bioelectronic device through interdigital frequency multiplexing. File 31_name: Figure S29B.xlsx, description: data of the switching performance of the output voltage signal from the wireless bioelectronic device through time-differential frequency multiplexing. File 32_name: Figure S30.xlsx, description: data of the right and left fin deflections of robot when activated separately at different frequencies File 33_name: Figure S32B.xlsx, description: data of the linear displacements of the fin at positions marked by orange in the photo of Fig. S32B. File 34_name: Figure S34B.xlsx, description: data of the optical flow analyses when the right and left fins were alternately or simultaneously activated. File 35_name: Figure S35.xlsx, description: data of the locomotion trajectory of a turning neuromuscular robot immersed in a 150 mm Petri dish when the flapping mode was time-differential and the frequencies on the left and right fins were adjusted to 2 and 1 Hz, respectively. ### Structural model Structural model file needed to fabricate the biohybrid robot. File 36_name: Robot design.dxf, description: DXF file of designed robot.