Bio-Nanorobotics: A Field Inspired by Nature - Biomimetics: Biologically Inspired Technologies - page 207

Component MacroRobots Bio-Nano Robots

Structural
Elements - Links

Metal, Plastic Polymer

DNA [PDB file:119D]

Nanotubes

Joints Metal, Plastic Polymer material

DNA hinge
Molecular bonds, Synthetic joints

Revolute joints
Prismatic joints
Spherical joints
Cylindrical joints

Actuators Electric motors, Pneumatic

motors, Hydraulic motors, Smart
material-based actuators

ATPase protein flagella motors, DNA actuators,
Viral protein motors etc.

Transmission
Elements

Springs (Metal, Polyvinyl)
Bearings
Gears

β Sheets
Molecular camshaft design Smith SS (2001).
United States Patent No. 6,200,782 13 March 2001.

Sensors Light sensors, force sensors,

position sensors, temperature
sensors

Rhodopsin
[PDB file-1JFP]

Heat Shock Factor
[PDB file-3HSF]

Figure 7.4 Macro- and bio-nano-equivalence of robot components.

7.2.2.1 The ATPase Motor

One of the most abundant rotary motors found in life forms is F 0 F 1 ATP synthase, commonly known
as the ''ATPase motor.'' Oxidative phosphorylation was demonstrated over 50 years ago as an
important process by which our bodies capture energy from the food we eat. The mechanism of this
process was not known until 1997, when Boyer and Walker described the key role that ATP plays in
the process (Boyer, 1998; Walker, 1998). Noji et al. published the structural and performance data of
the ATPase motor in 1997 (Noji et al., 1997; Yasuda et al., 1998). According to this study, the g-
subunit, which is about 1 nm in diameter, rotates inside the F 1 subunit, which is about 5 nm in
diameter, to produce approximately 40 pN-nm of rotary torque. Montemagno and his group were the
first to indicate that the rotation of the g-subunit of the ATPase motor could be mechanically useful
based on fabricated nanomechanical inorganic devices, which could be compatible with the force