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Nowadays, numerous countries are facing the challenge of aging population. Additionally, the number of people with reduced mobility due to physical illness is increasing. In response to this issue, robots used for walking assistance and sit-to-stand (STS) transition have been introduced in nursing to assist these individuals with walking. Given the shared characteristics of these robots, this paper collectively refers to them as Walking Support Robots (WSR). Additionally, service robots with assisting functions have been included in the scope of this review. WSR are a crucial element of modern nursing assistants and have received significant research attention. Unlike passive walkers that require much user’s strength to move, WSR can autonomously perceive the state of the user and environment, and select appropriate control strategies to assist the user in maintaining balance and movement. This paper offers a comprehensive review of recent literature on WSR, encompassing an analysis of structure design, perception methods, control strategies and safety & comfort features. In conclusion, it summarizes the key findings, current challenges and discusses potential future research directions in this field.

Highlights The tactile performance of ultralight multifunctional sensors can reach the level of human tactile perception. An individual sensor can provide multiple tactile sensations: pressure, temperature, materials recognition, and 3D location. Therefore, it is no longer necessary to integrate multiple sensing modules with different functions, which greatly simplifies system complexity and reduces energy loss. The tactile system with multimodal learning algorithms has universality and can accommodate object recognition tasks in various application scenarios (e.g., Mars and Kitchen).

E-skins often have poor interfaces that lead to unstable performances. Here, authors report e-skins with a quasi-homogeneous composition and bonded micro-structured interfaces, through which both the sensitivity and stability of the devices are improved.

Humanoid tactility has been boosting robotic intelligence in object recognition, dexterous manipulation, and human–robot interaction. For many artificial tactile sensors, especially those based on optical principles, inflexibility, bulkiness, and monomodality limit their potential to function as humanoid skins. Herein, by embedding lab‐made optical nanofibers (ONFs) into elastomeric films, soft, flexible, thin (around 500 μm, similar to human skin), and multimodal (force and thermosensitive) robotic skins are achieved. These superior characteristics arise from the low flexural rigidity and large evanescent field of ONFs, due to their subwavelength diameters (down to 450 nm). By tuning light wavelength, ONF diameter, and skin thickness, variable sensitivities and sensing ranges for both force and temperature are reported. Depending on different sensing requirements, special modules can be further assembled on the ONF skins for various surface properties, including hardness, texture, and thermal conductivity. The ONF skins can enable a commercial robot to emulate human behaviors, including adaptive grasping of flimsy objects, contactless temperature measurement, and even the perception of leaf veins. It is anticipated that these ONF skins could offer a unique solution in multiple intelligent systems such as robotics, prosthetics, human–machine interface and wearable devices.

Abstract Skin-integrated electronics, also known as electronic skin (e-skin), are rapidly developing and are gradually being adopted in biomedical fields as well as in our daily lives. E-skin capable of providing sensitive and high-resolution tactile sensations and haptic feedback to the human body would open a new e-skin paradigm for closed-loop human–machine interfaces. Here, we report a class of materials and mechanical designs for the miniaturization of mechanical actuators and strategies for their integration into thin, soft e-skin for haptic interfaces. The mechanical actuators exhibit small dimensions of 5 mm diameter and 1.45 mm thickness and work in an electromagnetically driven vibrotactile mode with resonance frequency overlapping the most sensitive frequency of human skin. Nine mini actuators can be integrated simultaneously in a small area of 2 cm × 2 cm to form a 3 × 3 haptic feedback array, which is small and compact enough to mount on a thumb tip. Furthermore, the thin, soft haptic interface exhibits good mechanical properties that work properly during stretching, bending, and twisting and therefore can conformally fit onto various parts of the human body to afford programmable tactile enhancement and Braille recognition with an accuracy rate over 85%.

Objective The aim of the study was to isolate gossypol-degrading bacteria and to assess its potential for gossypol degradation. Methods Rumen liquid was collected from fistulated cows grazing the experimental pasture. Approximately 1 mL of the rumen liquid was spread onto basal medium plates containing 2 g/L gossypol as the only source of carbon and was then cultured at 39°C to isolate gossypol-degrading bacteria. The isolated colonies were cultured for 6 h and then their size and shape observed by microscope and scanning electron microscope. The 16S rRNA gene of isolated colonies was sequenced and aligned using National Center for Biotechnology Information-Basic Local Alignment Search Tool. The various fermentation conditions, initial pH, incubation temperature, inoculum level and fermentationperiod were analyzed in cottonseed meal (CSM). The crude protein (CP), total gossypol (TG), and free gossypol (FG) were determined in CSM after fermentation with isolated strain at 39°C for 72 h. Results Screening results showed that a single bacterial isolate, named Rumen Bacillus Subtilis (RBS), could use gossypol as a carbon source. The bacterium was identified by 16S rDNA sequencing as being 98% homologous to the sequence of Bacillus subtilis strain GH38. The optimum fermentation conditions were found to be 72 h, 39°C, pH 6.5, moisture 50%, inoculum level 107 cell/g. In the optimum fermentation conditions, the FG and TG content in fermented CSM decreased 78.86% and 49% relative to the control. The content of CP and the essential amino acids of the fermented CSM increased respectively, compared with the control. Conclusion The isolation of a gossypol-degrading bacterium from the cow rumen is of great importance for gossypol biodegradation and may be a valuable potential source for gossypol-degradation of CSM.

Abstract Humans are good at selectively listening to specific target conversations, even in the presence of multiple concurrent speakers. In our research, we study how auditory-visual cues modulate this selective listening. We do so by using immersive Virtual Reality technologies with spatialized audio. Exposing 32 participants to an Information Masking Task with concurrent speakers, we find significantly more errors in the decision-making processes triggered by asynchronous audiovisual speech cues. More precisely, the results show that lips on the Target speaker matched to a secondary (Mask) speaker’s audio severely increase the participants’ comprehension error rates. In a control experiment (n = 20), we further explore the influences of the visual modality over auditory selective attention. The results show a dominance of visual-speech cues, which effectively turn the Mask into the Target and vice-versa. These results reveal a disruption of selective attention that is triggered by bottom-up multisensory integration. The findings are framed in the sensory perception and cognitive neuroscience theories. The VR setup is validated by replicating previous results in this literature in a supplementary experiment.

Auditory spatial localization in humans is performed using a combination of interaural time differences, interaural level differences, as well as spectral cues provided by the geometry of the ear. To render spatialized sounds within a virtual reality (VR) headset, either individualized or generic Head Related Transfer Functions (HRTFs) are usually employed. The former require arduous calibrations, but enable accurate auditory source localization, which may lead to a heightened sense of presence within VR. The latter obviate the need for individualized calibrations, but result in less accurate auditory source localization. Previous research on auditory source localization in the real world suggests that our representation of acoustic space is highly plastic. In light of these findings, we investigated whether auditory source localization could be improved for users of generic HRTFs via cross-modal learning. The results show that pairing a dynamic auditory stimulus, with a spatio-temporally aligned visual counterpart, enabled users of generic HRTFs to improve subsequent auditory source localization. Exposure to the auditory stimulus alone or to asynchronous audiovisual stimuli did not improve auditory source localization. These findings have important implications for human perception as well as the development of VR systems as they indicate that generic HRTFs may be enough to enable good auditory source localization in VR.