Tufts University | School of Engineering | School of Arts and Sciences | Department of Biology | Find People |


Publications Since 2000

Vaughan, S., Lin, H.-t. and Trimmer, B.A. Soft-bodied climbing: robust, tension-based omni-directional locomotion. Journal of Insect Science - submitted.

Mukherjee, R., Vaughan, S. and Trimmer, B.A. The neuromechanics of proleg grip release. Journal of Experimental Biology, submitted.

Trimmer, B.A. (2018). Soft-bodied terrestrial invertebrates. In: Living Machines: A Handbook of research in Biomimetic and Biohybrid Systems, T. Prescott, P. Verschure and N. Lepora, eds. Oxford University Press, ISBN: 9780199674923.

Ricotti L, Trimmer B, Feinberg AW, Raman R, Parker KK, Bashir R, Sitti M, Martel S, Dario P, Menciassi A. (2017) Biohybrid actuators for robotics: A review of devices actuated by living cells. Science Robotics. 2(12): DOI: 10.1126/scirobotics.aaq0495.

Buschmann, T. and B. Trimmer, (2017) Bio-inspired robot locomotion, in The Neurobiology of Motor Control: Fundamental Concepts and New Directions, S.L. Hooper and A. Büschges, Editors. Pp 443-472. Wiley-Blackwell. ISBN: 978-1-118-87340-3.

Crooks, W., S. Rozen-Levy, B. Trimmer, C. Rogers, and W. Messner, (2017) Passive gripper inspired by Manduca sexta and the Fin Ray® Effect. International Journal of Advanced Robotic Systems,. 14(4): p. 1729881417721155. doi:10.1177/1729881417721155.

Trimmer, B.A., (2017) Animal Models for Non-pneumatic Soft Robots, in Soft Robotics: Trends, Applications and Challenges: Proceedings of the Soft Robotics Week, April 25-30, 2016, Livorno, Italy, C. Laschi, et al., Editors., Springer International Publishing. p. 47-55.10.1007/978-3-319-46460-2.

Serlin, C.M.D.Z., P. Echols-Jones, A. Scibelli, A.A. Cohen, J.-M. Musca, S. Rozen-Levy, D. Buckingham, R.D. White, and B. Trimmer. Soft Foam Robot with Caterpillar-Inspired Gait Regimes for Terrestrial Locomotion. in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2017.10.1109/IROS.2017.8202196.

Umedachi, T., Kano, T., Ishiguro, A., and Trimmer, B. (2016). Gait control in a soft robot by sensing interactions with the environment using self-deformation. Royal Society Open Science. 3.10.1098/rsos.160766.

Umedachi, T., and Trimmer, B.A. (2016). Autonomous Decentralized Control for Soft-bodied Caterpillar-like Modular Robot Exploiting Large and Continuum Deformation. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 292 - 297.10.1109/IROS.2016.7759069.

Vikas, V., Cohen, E., Grassi, R., Sozer, C., and Trimmer, B.A. (2016). Design and Locomotion Control of a Soft Robot Using Friction Manipulation and Motor–Tendon Actuation. Transactions on Robotics 32, 949 - 959.10.1109/TRO.2016.2588888.

Umedachi, T., Vikas, V. and Trimmer B.A. (2016) Softworms: The Design and Control of Non-pneumatic, 3D-Printed, Deformable Robots" Bioinspiration & Biomimetics 11.(2).10.1088/1748-3190/11/2/025001.

Vikas V., Grover P. and Trimmer, B.A. (2015). Model-free control of multi-limb soft robots. In: International Conference on Intelligent Robots and Systems, (Hamburg, Germany: IEEE/RSJ). arXiv:1509.05937.

Cohen, E., Vikas, V., Trimmer, B., and McCarthy, S. (2015). Design methodologies for soft-material robots through additive manufacturing; from prototyping to locomotion. In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Volume 5B. (Boston, Massachusetts, USA: ASME), p. V05BT08A015; 019 pages 10.1115/DETC2015-4750.

Ahamed, T., Rubin, M.B., Trimmer, B.A., and L., Dorfmann. (2016). The time-dependent behavior of passive skeletal muscle. Continuum Mech. Thermodyn. 28:561–577. DOI 10.1007/s00161-015-0464-z.

Metallo, C., and Trimmer, B.A. (2015). Silk coating as a novel delivery system and reversible adhesive for stiffening and shaping flexible electrodes. Journal of Biological Methods 2.10.14440/jbm.2015.41.

Metallo, C., and Trimmer, B.A. (2015) Orientation-dependent changes in single motor neuron activity during adaptive soft-bodied locomotion. Brain, Behavior and Evolution. 85:47-62. DOI: 10.1159/000369372.

Schuldt, D., Rife, J., and Trimmer, B.A. (2015). A template for robust soft-body crawling with reflex-triggered gripping. Bioinspiration & Biomimetics 10.10.1088/1748-3190/10/1/016018.

Baryshyan, A.L., L. Domigan, B. Hunt, B.A. Trimmer, and D. Kaplan, (2014) Self-assembled insect muscle bioactuators with long term function under a range of environmental conditions. RSC Advances: 4, 39962-39968.DOI: 10.1039/C4RA08438A.

Trimmer B.A. and Lin, H-t, (2014) Bone-free: Soft Mechanics for Adaptive Locomotion. Integrative and Comparative Biology. DOI: 10.1093/icb/icu076.

Umedachi, T., and Trimmer, B.A. (2014). Design of a 3D-printed soft robot with posture and steering control. IEEE International Conference on Robotics and Automation (ICRA) pp. 2874-2879. 10.1109/ICRA.2014.6907272.

van Griethuijsen, L.I. and Trimmer, B. A. (2014) Locomotion in caterpillars. Biological Reviews. 89(3): p. 656-670. DOI:10.1111/brv.12073.

Trimmer B.A. and Lin, H-t, (2014). Bone-free: Soft Mechanics for Adaptive Locomotion, Integrative and Comparative Biology, Advance Access published June 18, 2014, doi:10.1093/icb/icu076.

Umedachi, T. and Trimmer, B.A. (2014). Design of a 3-D printed soft robot with posture and steering control, Proceedings of 2014 IEEE International Conference on Robotics and Automation, May 31—June 5, 2014, Hong Kong, China. In press.

Umedachi, T, Vikas, V. and Trimmer, B.A. (2013) Highly Deformable 3-D Printed Soft Robot Generating Inching and Crawling Locomotion with Variable Friction Legs. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, Nov 3-7. p 4590-4595. doi:10.1109/IROS.2013.6697016.

Lin, H-t, Leisk, G. and Trimmer, B.A. (2013) Soft Robots in Space: A Perspective for Soft Robotics. Acta Futura. 6:69-79.  doi: 10.2420/AF06.2013.69.

Trimmer, B. (2013) A Journal of Soft Robotics: Why Now? Soft Robotics: 1(P): 1-4. doi: 10.1089/soro.2013.0003.

Trimmer, B. (2013) Soft robots. Current Biology: 23 (15), R639-R641.

Kim, S., Laschi, C. Trimmer B.A. (2013) Soft Robotics: A New Perspective in Robot Evolution. Trends in Biotechnology 31: 287-294.

Griethuijsen, L. I. v., Banks, K.M. and Trimmer, B. A. (2013) Spatial accuracy of a rapid defense behavior in caterpillars. Journal of Experimental Biology. 216(3):379-387.

Rieffel, J., Knox, D., Smith, S. and Trimmer, B.A. (2013) Growing and evolving soft robots. Artificial Life. 1-20. doi: 10.1162/ARTL_a_00101.

Lin, H-t and Trimmer, B.A. (2012) A new bi-axial cantilever beam design for biomechanics force measurements. Journal of Biomechanics. 45(13) 2310-4. [PDF].

Trimmer, B. A., Huai-Ti, L., Baryshyan, A., Leisk, G. G. and Kaplan, D. L. (2012). Towards a biomorphic soft robot: Design constraints and solutions. In Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on, pp. 599-605.

Baryshyan, A., Woods, W. Trimmer, B.A. and Kaplan, D.L. (2012) Isolation and maintenance-free culture of contractile myotubes from Manduca sexta embryos. PLoS One. 7(2): e31598. doi:10.1371/journal.pone.0031598

Paetsch, C., Trimmer, B. A. and Dorfmann A. (2012) A constitutive model for active-passive transition of muscle fibers International Journal of Non-Linear Mechanics, 47, 377-387

Lin, H.-T., Leisk, G. and Trimmer, B.A. (2011) GoQBot: A caterpillar-inspired soft-bodied rolling robot. Bioinspiration & Biomimetics 6(2), doi: 10.1088/1748-3182/6/2/026007.

Lin, H.-T., Slate, D., Paetsch, C., Dorfmann, L. and Trimmer, B. (2011). Ontogenetic scaling of caterpillar body properties and its biomechanical implications on the use of hydrostatic skeletons. Journal of Experimental Biology 214, 1194-1204.

Saunders, F., Trimmer, B.A. and Rife, R. (2011) Modeling Locomotion of a Soft Bodied Arthropod Using Inverse-Dynamics. Bioinspiration & Biomimetics 6 (1). doi: 10.1088/1748-3182/6/1/016001.

Metallo, C., White, R. D., Trimmer, B.A. (2010) Flexible parylene-based microelectrode arrays for high resolution EMG recordings in freely moving small animals. Journal of Neuroscience Methods doi:10.1016/j.jneumeth.2010.12.005.

Gil, E., Park, S., Tien, L., Trimmer, B.A., Hudson, S., Kaplan, D. (2010) Mechanically Robust, Rapidly Actuating and Biologically Functionalized Macroporous Poly(N-isopropylacrylamide)/Silk Hybrid Hydrogels. Langmuir 26 (19)15614-15624.

Rieffel, J. and Trimmer, B.A. (2010) Body/Brain Co-Evolution in Soft Robots. In Artificial Life XII. Proceedings of the Twelfth International Conference on the Synthesis and Simulation of Living Systems. Edited by Harold Fellermann, Mark Dörr, Martin M. Hanczyc, Lone Ladegaard Laursen, Sarah Maurer, Daniel Merkle, Pierre-Alain Monnard, Kasper Stoy and Steen Rasmussen. pp. 257-61. Odense, Denmark, 2010. MIT Press, Cambridge, MA

Simon, M.A., Woods, W.A. Jr., Serebrenik, Y.V, Simon, S.M., Griethuijsen, L.I. v, Socha, J.J., Lee, W.K. and Trimmer, B.A. (2010) Visceral-locomotory pistoning in crawling caterpillars (Manduca sexta). Current Biology 20 (16) 1458-1463.

Simon, M., Fusillo, S.J., Colman, K., and Trimmer. B. A. (2010) Motor patterns associated with crawling in a soft-bodied arthropod. Journal of Experimental Biology; 213: 2303-9.

van Griethuijsen, L. and Trimmer, B.A. (2010) Caterpillar crawling over irregular terrain: anticipation and local sensing. Journal of Comparative Physiology A: Neuroethology, Sensory, Neural, and Behavioral Physiology: 196(6): 397-406.

Lin, H-t. and Trimmer, B.A. (2010) The substrate as a skeleton: ground reaction forces from a soft-bodied legged animal. Journal of Experimental Biology. 213, 1133-1142.

Griethuijsen, L. I. van. and Trimmer, B. A. (2009) Kinematics of horizontal and vertical caterpillar crawling. Journal of Experimental Biology. 212: 1455-1462.

Simon, M.A. and Trimmer, B.A. (2009) Movement encoding by a stretch receptor in the soft-bodied caterpillar, Manduca sexta. Journal of Experimental Biology. 212: 1021-1031.

Huai-Ti Lin, Luis Dorfmann and Trimmer B. A. (2009). Soft cuticle biomechanics: A constitutive model of anisotropy for caterpillar integument. J Theor Biol. 256: 447–457.

Rieffel, J., Saunders, F., Nadimpali, S., Zhou, H., Hassoun, S., Rife, J. and Trimmer, B. (2009). Evolving Soft Robotic Locomotion in PhysX. In Proceedings of the 11th Annual Conference Companion on Genetic and Evolutionary Computation Conference. Computational Intelligence on Consumer Games and Graphics Hardware (CIGPU) pp. 2499-2504. Montreal, Québec, Canada.

Trimmer B.A. (2008) New challenges in biorobotics: incorporating soft tissue into control systems. Applied Bionics and Biomechanics.5, 119-126.

Morokuma, J., Blackiston, D., Adams, D. S., Seebohm, G., Trimmer, B. and Levin, M. (2008). Modulation of potassium channel function confers a hyperproliferative invasive phenotype on embryonic stem cells. Proc Natl Acad Sci U S A 105, 16608.

Dorfmann, A., W. A. Woods, Jn., and Trimmer. B. A. (2008) Muscle performance in a soft-bodied terrestrial crawler: constitutive modeling of strain-rate dependency. J. R. Soc. Interface. 5,  349-362, 2008.

Woods, W.A. Jr., Fusillo, S.J. and Trimmer, B.A. (2008) Dynamics of caterpillar muscle during strain cycling and simulated natural crawling. Journal of Experimental Biology, 211, 873-882

Toto, B. and B. Trimmer, eds. (2007) Nitric Oxide. Advances in Experimental Biology, ed. R. Wilson and M. Burrell. Vol. 1., Society for Experimental Biology. p458.

Trimmer, B.A and Issberner, J.I. (2007) Kinematics of soft-bodied, legged locomotion in Manduca sexta larvae. Biol. Bull. 212: 130-142

Dorfmann, A., Trimmer. B. A. and W. A. Woods, Jr., (2007). A constitutive model for muscle properties in a soft bodied arthropod. J. R. Soc. Interface 4, 257-269.

Zayas, R.M. and Trimmer, B.A. (2007). Characterization of NO/cGMP-mediated responses in identified motoneurons. Cellular and Molecular Neurobiology. 27, (2) 191-209

Vermehren, A. and Trimmer, BA (2005) The expression and function of two nicotinic subunits in insect neurons. J. Neurobiol. 62, 289-298

Metzoff, S., Papastathis, N., Takesian, A. and Trimmer, B.A. (2004) The biomechanical and neural control of hydrostatic limb movements in Manduca sexta. J. Exp. Biol. 207, 3043-53.

Trimmer, B.A. (2004) A central pattern generator in pupae of the tobacco hornworm, Manduca sexta. In: A laboratory manual for Physiology . Eds. D.M. Silverthorn, B.M. Johnson and A.M. Mills. Benjamin Cummings. In press isbn 0-8053-6007-7, 250 pp.

Trimmer, B.A., Aprille, J. R., Modica Napolitano, J.S. (2004) Nitric oxide signalling: Insect brains and photocytes Biochemical Society Annual Symposium vol. 71. Free Radicals: Enzymology, Signalling and Disease. p65-83 (Eds. Chris Cooper, Mike Wilson and Victor Darley-Usmar) Portland Press, London. isbn 1855781611

Qazi, S., Beltukov, A. and Trimmer, B.A. (2004) Simulation modeling of ligand receptor interactions at non-equilibrium conditions: Processing of noisy inputs by ionotropic receptors. Math. Biosciences.  187: 93-110.

Fickbohm, D. and Trimmer, B.A. (2003) Antisense inhibition of neuronal nicotinic receptors in the tobacco-feeding insect, Manduca sexta. Arch. Insect Biochem and Physiol. 53: 172-185.

Aprille, J. R., Lagace, C.J., Lewis, S.M., Michel, T., Modica Napolitano, J.S., Trimmer, B. A., Zayas, R.M.  (2002) Mechanism of firefly flash control: Nitric oxide inhibition of oxygen consumption in lantern mitochondria is reversed by light. Bioluminescence & Chemiluminescence: Progress & Current Applications, p 25-28. Editors: Stanley PE & Kricka LJ, Publisher: World Scientific Publishing, Singapore.

Issberner, J.I. Shauer, C. Trimmer, B.A and. Walt, D (2002) Combined imaging and chemical sensing of L-glutamate release from the foregut plexus of the Lepidopteran, Manduca sexta  J. Neurosc. Methods. 120, 1-10.

Zayas, R.M. Qazi, S. Morton, D.B. and Trimmer, B.A. (2002) Nicotinic-acetylcholine receptors are functionally coupled to the NO/cGMP- pathway in insect neurons. J. Neurochemistry. 83:421-431.

Vermehren, A., Qazi, S. and Trimmer, B. A (2001) The nicotinic α subunit MARA1 is necessary for cholinergic evoked calcium transients in Manduca  neurons. Neuroscience Letters 313, 113-116.

Trimmer, B. A., Aprille, J. R., Dudzinski, D.M., Lagace, C.J., Lewis, S.M., Michel, T., Qazi, S., Zayas, R.M.(2001). Nitric oxide and the control of firefly flashing. Science  292,  2486-2488.

Belanger, J. H., Bender, K., J. and Trimmer, B. A. (2000). Context-dependency of a limb-withdrawal reflex in the caterpillar Manduca sexta. J. Comp. Physiol. A. 186,  1041-1048.

Belanger, J. H. and Trimmer, B. A. (2000). Combined kinematic and electromyographic analyses of proleg function during crawling by the caterpillar Manduca sexta. J. Comp. Physiol. A. 186, 1049-1063.