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Yang Y, Xie Y, Liu J, Li Y, Chen F. 3D-Printed Origami Actuators for a Multianimal-Inspired Soft Robot with Amphibious Locomotion and Tongue Hunting. Soft Robot 2024. [PMID: 38330424 DOI: 10.1089/soro.2023.0079] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/10/2024] Open
Abstract
The field of soft robotics is rapidly evolving, and there is a growing interest in developing soft robots with bioinspired features for use in various applications. This research presented the design and development of 3D-printed origami actuators for a soft robot with amphibious locomotion and tongue hunting capabilities. Two different types of programmable origami actuators were designed and manufactured, namely Z-shaped and twist tower actuators. In addition, two actuator variations were developed based on the Z-shaped actuator, including the pelvic fin and the coiling/uncoiling types. The Z-shaped actuators were used for the rear legs to facilitate the locomotion of the water-like frogs. Meanwhile, the twisted tower actuators were used for the rotation joints in the forelegs and for locomotion on land. The pelvic fin actuator was developed to imitate the land locomotion of the mudskipper, and the coiling/uncoiling actuator was designed for tongue hunting motion. The origami actuators and soft robot prototype were tested through a series of experiments, which showed that the robot was capable of efficiently moving in water and on land and performing tongue hunting motions. Our results demonstrate the effectiveness of these actuators in producing the desired motions and provide insights into the potential of applying 3D-printed origami actuators in the development of soft robots with bioinspired features.
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Affiliation(s)
- Yang Yang
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology (CICAEET), Nanjing University of Information Science and Technology, Nanjing, China
| | - Yuan Xie
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Nanjing University of Information Science and Technology, Nanjing, China
| | - Jia Liu
- School of Automation, Nanjing University of Information Science and Technology, Nanjing, China
- Jiangsu Province Engineering Research Center of Intelligent Meteorological Exploration Robot, Nanjing University of Information Science and Technology, Nanjing, China
- Tianchang Research Institute of NUIST, Tianchang, Anhui, China
| | - Yunquan Li
- Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou, China
| | - Feifei Chen
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University and Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China
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Exley T, Hays E, Johnson D, Moridani A, Motati R, Jafari A. Toward a Unified Naming Scheme for Thermo-Active Soft Actuators: A Review of Materials, Working Principles, and Applications. ROBOTICS REPORTS (NEW ROCHELLE, N.Y.) 2024; 2:15-28. [PMID: 38584677 PMCID: PMC10996867 DOI: 10.1089/rorep.2023.0023] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Accepted: 12/12/2023] [Indexed: 04/09/2024]
Abstract
Soft robotics is a rapidly growing field that spans the fields of chemistry, materials science, and engineering. Due to the diverse background of the field, there have been contrasting naming schemes such as "intelligent," "smart," and "adaptive" materials, which add vagueness to the broad innovation among literature. Therefore, a clear, functional, and descriptive naming scheme is proposed in which a previously vague name-Soft Material for Soft Actuators-can remain clear and concise-Phase-Change Elastomers for Artificial Muscles. By synthesizing the working principle, material, and application into a naming scheme, the searchability of soft robotics can be enhanced and applied to other fields. The field of thermo-active soft actuators spans multiple domains and requires added clarity. Thermo-active actuators have potential for a variety of applications spanning virtual reality haptics to assistive devices. This review offers a comprehensive guide to selecting the type of thermo-active actuator when one has an application in mind. In addition, it discusses future directions and improvements that are necessary for implementation.
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Affiliation(s)
- Trevor Exley
- Advanced Robotic Manipulators (ARM) Lab, the Department of Biomedical Engineering, University of North Texas, Denton, Texas, USA
| | - Emilly Hays
- Advanced Robotic Manipulators (ARM) Lab, the Department of Biomedical Engineering, University of North Texas, Denton, Texas, USA
| | - Daniel Johnson
- Advanced Robotic Manipulators (ARM) Lab, the Department of Biomedical Engineering, University of North Texas, Denton, Texas, USA
| | - Arian Moridani
- Advanced Robotic Manipulators (ARM) Lab, the Department of Biomedical Engineering, University of North Texas, Denton, Texas, USA
| | - Ramya Motati
- Advanced Robotic Manipulators (ARM) Lab, the Department of Biomedical Engineering, University of North Texas, Denton, Texas, USA
| | - Amir Jafari
- Advanced Robotic Manipulators (ARM) Lab, the Department of Biomedical Engineering, University of North Texas, Denton, Texas, USA
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Wickeler AL, McLellan K, Sun YC, Naguib HE. 4D printed origami-inspired accordion, Kresling and Yoshimura tubes. JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES 2023; 34:2379-2392. [PMID: 37970097 PMCID: PMC10638089 DOI: 10.1177/1045389x231181940] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Indexed: 11/17/2023]
Abstract
Applying tessellated origami patterns to the design of mechanical materials can enhance properties such as strength-to-weight ratio and impact absorption ability. Another advantage is the predictability of the deformation mechanics since origami materials typically deform through the folding and unfolding of their creases. This work focuses on creating 4D printed flexible tubular origami based on three different origami patterns: the accordion, the Kresling and the Yoshimura origami patterns, fabricated with a flexible polylactic acid (PLA) filament with heat-activated shape memory effect. The shape memory characteristics of the self-unfolding structures were then harnessed at 60°C, 75°C and 90°C. Due to differences in the folding patterns of each origami design, significant differences in behaviour were observed during shape programming and actuation. Among the three patterns, the accordion proved to be the most effective for actuation as the overall structure can be compressed following the folding crease lines. In comparison, the Kresling pattern exhibited cracking at crease locations during deformation, while the Yoshimura pattern buckled and did not fold as expected at the crease lines. To demonstrate a potential application, an accordion-patterned origami 4D printed tube for use in hand rehabilitation devices was designed and tested as a proof-of-concept prototype incorporating self-unfolding origami.
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Affiliation(s)
- Anastasia L Wickeler
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada
| | - Kyra McLellan
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada
| | - Yu-Chen Sun
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada
| | - Hani E. Naguib
- Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada
- Department of Materials Science and Engineering, University of Toronto, Toronto, ON, Canada
- Institute of Biomaterials and Biomedical Engineering, University of Toronto, Toronto, ON, Canada
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Su J, Zhang Y, Cheng L, Zhu L, Yang R, Niu F, Yang K, Duan Y. Oribron: An Origami-Inspired Deformable Rigid Bronchoscope for Radial Support. MICROMACHINES 2023; 14:822. [PMID: 37421055 DOI: 10.3390/mi14040822] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/12/2023] [Revised: 03/29/2023] [Accepted: 04/04/2023] [Indexed: 07/09/2023]
Abstract
The structure of a traditional rigid bronchoscope includes proximal, distal, and body, representing an important means to treat hypoxic diseases. However, the body structure is too simple, resulting in the utilization rate of oxygen being usually low. In this work, we reported a deformable rigid bronchoscope (named Oribron) by adding a Waterbomb origami structure to the body. The Waterbomb's backbone is made of films, and the pneumatic actuators are placed inside it to achieve rapid deformation at low pressure. Experiments showed that Waterbomb has a unique deformation mechanism, which can transform from a small-diameter configuration (#1) to a large-diameter configuration (#2), showing excellent radial support capability. When Oribron entered or left the trachea, the Waterbomb remained in #1. When Oribron is working, the Waterbomb transforms from #1 to #2. Since #2 reduces the gap between the bronchoscope and the tracheal wall, it effectively slows down the rate of oxygen loss, thus promoting the absorption of oxygen by the patient. Therefore, we believe that this work will provide a new strategy for the integrated development of origami and medical devices.
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Affiliation(s)
- Junjie Su
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
| | - Yangyang Zhang
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
| | - Liang Cheng
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
| | - Ling Zhu
- Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China
| | - Runhuai Yang
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
| | - Fuzhou Niu
- School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou 215009, China
| | - Ke Yang
- Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China
| | - Yuping Duan
- School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China
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Liu Y, Dai X, Wang Z, Bi Q, Song R, Zhao J, Li Y. A Tensegrity-Based Inchworm-Like Robot for Crawling in Pipes With Varying Diameters. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3203585] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Affiliation(s)
- Yixiang Liu
- School of Control Science and Engineering, Shandong University, Jinan, China
| | - Xiaolin Dai
- School of Control Science and Engineering, Shandong University, Jinan, China
| | - Zhe Wang
- School of Control Science and Engineering, Shandong University, Jinan, China
| | - Qing Bi
- Volvo Construction Equipment Technology (China) Co., Ltd, Jinan, China
| | - Rui Song
- School of Control Science and Engineering, Shandong University, Jinan, China
| | - Jie Zhao
- State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
| | - Yibin Li
- School of Control Science and Engineering, Shandong University, Jinan, China
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Untethered Origami Worm Robot with Diverse Multi-Leg Attachments and Responsive Motions under Magnetic Actuation. ROBOTICS 2021. [DOI: 10.3390/robotics10040118] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/18/2022] Open
Abstract
Nowadays, origami folding in combination with actuation mechanisms can offer deployable structure design, yield compliance, and have several properties of soft material. An easy complex folding pattern can yield an array of functionalities in actuated hinges or active spring elements. This paper presents various cylinder origami robot designs that can be untethered magnetically actuated. The different designs are analyzed and compared to achieve the following three types of motion: Peristaltic, rolling, and turning in different environments, namely, board, sandpaper, and sand. The proposed origami robot is able translate 53 mm in peristaltic motion within 20 s and is able to roll one complete cycle in 1 s and can turn ≈180∘ in 1.5 s. The robot also demonstrated a peristaltic locomotion at a speed of ≈2.5 mm s−1, ≈1.9 mm s−1, and ≈1.3 mm s−1 in board, sandpaper, and sand respectively; rolling motion at a speed of 1 cycle s−1, ≈0.66 cycles s−1, and ≈0.33 cycles s−1 in board, sandpaper, and sand respectively; and turning motion of ≈180∘, ≈83∘, and ≈58∘ in board, sandpaper, and sand respectively. The evaluation of the robotic motion and actuation is discussed in detail in this paper.
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