4D Multiscale Origami Soft Robots: A Review

Son, Hyegyo; Park, Yunha; Na, Youngjin; Yoon, ChangKyu

doi:10.3390/polym14194235

Cited by 13 publications

(4 citation statements)

References 170 publications

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“…[48] However, stimuli-responsive materials in combination with 3D/4D printing have cleared the way for the creation of shape-changing intelligent biodegradable soft robots. [49] There have been a lot of ongoing efforts in the development of 3D-and 4D-printed biodegradable soft robots at various scales. Very few in-depth articles have addressed 3D/4D printing technologies and materials for fully biodegradable soft robotics, and each of these papers has presented several research potentials, such as the optimization of both material and printer for printing soft materials and the integration of soft actuators and sensors through multi-material printing.…”

Section: Doi: 101002/adsu202300289mentioning

confidence: 99%

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Sustainable Robots 4D Printing

Soleimanzadeh,

Rolfe,

Bodaghi

et al. 2023

Advanced Sustainable Systems

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Nature frequently serves as an inspiration for modern robotics innovations that emphasize secure human–machine interaction. However, the advantages of increased automation and digital technology integration conflict with the global environmental objectives. Accordingly, biodegradable soft robots have been proposed for a range of intelligent applications. Biodegradability provides soft robotics with an extraordinary functional advantage for operations involving intelligent shape transformation in response to external stimuli such as heat, pH, and light. Soft robot fabrication using conventional manufacturing techniques is inflexible, time‐consuming, and labor‐intensive. Recent advances in 3D and 4D printing of soft materials and multi‐materials have become the key to enabling the direct manufacture of soft robotics with complex designs and functions. This review comprises a detailed survey of 3D and 4D printing advances in biodegradable soft sensors and actuators (BSSA), which serve as the most prominent parts of each robotic system. In addition, a concise overview of biodegradable materials for the fabrication of 3D‐printed flexible devices with medical along with industrial applications is provided. A complete summary of current additive manufacturing techniques for BSSA is discussed in depth. Moreover, the concept of biodegradable 4D‐printed soft actuators and sensors and biohybrid soft robots is reviewed.

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Section: Doi: 101002/adsu202300289mentioning

confidence: 99%

“…[ 48 ] However, stimuli‐responsive materials in combination with 3D/4D printing have cleared the way for the creation of shape‐changing intelligent biodegradable soft robots. [ 49 ]…”

Section: Introductionmentioning

confidence: 99%

Sustainable Robots 4D Printing

Soleimanzadeh,

Rolfe,

Bodaghi

et al. 2023

Advanced Sustainable Systems

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“…Today researchers use discrete actuators in a variety of fields and devices such as grippers [3][4][5][6][7][8][9], switches [10], medical imaging devices [11][12][13], exoskeleton rehabilitation robots [14,15], solar centralizing mirrors [16,17], millirobots [18], microrobots [19][20][21], and soft robots [22][23][24][25]. Some investigators use discrete actuators in hyper-redundant manipulators [2,[26][27][28][29].…”

Section: Introductionmentioning

confidence: 99%

Solving the inverse kinematics problem of discretely actuated hyper-redundant manipulators using the multi-module searching method

Motahari

2024

Robotica

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Hyper-redundant manipulators are produced by cascading several mechanisms on top of each other as modules. The discrete actuation makes their control easier because discrete actuators usually do not need any feedback to control. So far, several methods have been proposed to solve the inverse kinematic problem of discretely actuated, hyper-redundant manipulators. The two-by-two searching method is better than the other methods in terms of CPU time and error. In this article, the mentioned method is generalized by choosing an arbitrary number of modules as pending modules in each step of the solution instead of the necessary two. For validation, the proposed method is compared with nine meta-heuristic searching algorithms: simulated annealing, genetic algorithm, particle swarm optimization, ant colony optimization, gray wolf optimizer, stochastic fractal search, whale optimization algorithm, Giza pyramid construction, and flying fox optimization. Furthermore, the effect of the number of pending modules on CPU time and error is investigated. All the numerical problems have been solved for two case studies, one is planar and the other is spatial.

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“…Origami-inspired actuators have gradually attracted considerable research attention because of their high contraction ratio [24,[30][31][32][33][34][35][36][37]. Li et al proposed a linear zigzagtype actuator [24], which produces a contraction ratio of 90% under a vacuum pressure of 60 kPa.…”

Section: Introductionmentioning

confidence: 99%

Origami-inspired soft-rigid hybrid contraction actuator and its application in pipe-crawling robot

Liu

et al. 2023

Smart Mater. Struct.

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A vacuum-driven inclined hexagonal prism soft-rigid hybrid contraction actuator inspired by Kresling origami pattern and with low driving pressure, high contraction ratio, and fast response was proposed. The advantages of soft-rigid hybrid vacuum contraction actuators over conventional positive-type oscillators were investigated. Under 30 kPa vacuum pressure, the actuator can realize a torsional angle of 87°, contraction ratio of 59%, contracting response time of 0.2 s, and restoring response time of 0.42 s. The design and fabrication of the proposed actuator were discussed. A mathematical model treating all creases as a combination of linear and torsion springs, which is firstly considered compared with previously proposed models of Kresling origami-based actuators, was established to predict the output performance. The excellent output force prediction performance of the proposed method was validated experimentally. To investigate the application potential of the proposed modular actuator, six actuators were assembled on a pipe-crawling robot that can crawl in horizontal, vertical, elbow rigid pipes as well as flexible pipes with inner diameters ranging from 55 to 71 mm. The robot achieved a maximum crawling velocity of 34.8 mm/s (0.226 body lengths per second) and maximum load of 1000 g (12.5 times its own weight) in tests. Thus, the excellent application potential of the proposed actuator was validated.

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4D Multiscale Origami Soft Robots: A Review

Cited by 13 publications

References 170 publications

Sustainable Robots 4D Printing

Sustainable Robots 4D Printing

Solving the inverse kinematics problem of discretely actuated hyper-redundant manipulators using the multi-module searching method

Origami-inspired soft-rigid hybrid contraction actuator and its application in pipe-crawling robot

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