A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery

Salerno, Marco; Zhang, Ketao; Menciassi, Arianna; Dai, Jian S.

doi:10.1109/tro.2016.2539373

Cited by 107 publications

(47 citation statements)

References 53 publications

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“…Shape memory alloys are also highly sensitive to precise atomic ratio, and purchasing sheets or wires eliminates the need to develop such capabilities elsewhere. The shape memory rotary hinge actuators discussed previously used commercial NiTi sheets with a transition temperature of 65 °C for an easily obtained actuation temperature but one significantly above room temperature, while commercial NiTi wire was used in the external shape memory actuator in studies by Salerno et al There are, however, potential benefits to alternative shape memory alloys including lower cost, higher temperature range, and better fatigue resistance, and investigation of a broader set of materials is a promising future research area. Magnetic shape memory alloys, alloys that use magnetic energy instead of heat for transformation, also could open up new possible actuation mechanisms.…”

Section: Methodsmentioning

confidence: 99%

“…For self‐folding origami, on the other hand, it is more common to manually program, fixing the actuator in place during the programming process. For instance, springs for external control of origami folding were programmed by wrapping a Ni‐Ti wire around a steel rod and annealing to 500 °C for 15 min to create actuator springs for driving an origami structure in studies by Salerno et al .…”

Section: Actuation Mechanismsmentioning

confidence: 99%

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Self‐Folding Metal Origami

Lazarus

Smith

Dickey

2019

Advanced Intelligent Systems

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Origami‐based techniques for creating 3D shapes from 2D patterns via folding have moved from the domain of art to practical engineering. Flat sheets are an appealing starting material for the creation of 3D objects because of 1) the ability to efficiently store and ship stacks of sheets, 2) the compatibility of flat surfaces with a variety of patterning processes such as lithography, and 3) the ability to make sheets via high‐throughput manufacturing. Self‐folding is the ability of flat sheets of materials to respond to external stimuli (light, heat, magnetic fields, etc.) and rapidly change shape without human intervention. Herein, the self‐folding of metals is reviewed, which is particularly important for opening up new applications in robotics, medicine, and reconfigurable electronics. These applications rely on the superior thermal, mechanical, and electrical properties of metals compared with polymer alternatives. The field is reviewed from actuation mechanisms and materials to design approaches and common applications of technologies.

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Section: Methodsmentioning

confidence: 99%

Section: Actuation Mechanismsmentioning

confidence: 99%

Self‐Folding Metal Origami

Lazarus

Smith

Dickey

2019

Advanced Intelligent Systems

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“…In contrast to rigid‐bodied mechanisms, one attractive feature of origami‐inspired mechanisms is the possibility to design their kinematics and compliance by taking the properties of materials into account (Greenberg, Gong, Magleby, & Howell, ). With the inherent flexibility of the compliant joints, the origami‐inspired mechanisms have been widely utilized in robotic systems as compliant manipulators, limbs of walking robots, and end‐effectors of positioning devices (Li, Vogt, Rus, & Wood, ; Salerno, Zhang, Menciassi, & Dai, ).…”

Section: The Novel Retractable Landing System With 3d Printable Shellmentioning

confidence: 99%

“…With the inherent flexibility of the compliant joints, the origamiinspired mechanisms have been widely utilized in robotic systems as compliant manipulators, limbs of walking robots, and end-effectors of positioning devices (Li, Vogt, Rus, & Wood, 2017;Salerno, Zhang, Menciassi, & Dai, 2016).…”

Section: Controllermentioning

confidence: 99%

Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots

Zhang

Chermprayong

Tzoumanikas

et al. 2018

Journal of Field Robotics

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One of the main challenges for autonomous aerial robots is to land safely on a target position on varied surface structures in real‐world applications. Most of current aerial robots (especially multirotors) use only rigid landing gears, which limit the adaptability to environments and can cause damage to the sensitive cameras and other electronics onboard. This paper presents a bioinpsired landing system for autonomous aerial robots, built on the inspire–abstract–implement design paradigm and an additive manufacturing process for soft thermoplastic materials. This novel landing system consists of 3D printable Sarrus shock absorbers and soft landing pads which are integrated with an one‐degree‐of‐freedom actuation mechanism. Both designs of the Sarrus shock absorber and the soft landing pad are analyzed via finite element analysis, and are characterized with dynamic mechanical measurements. The landing system with 3D printed soft components is characterized by completing landing tests on flat, convex, and concave steel structures and grassy field in a total of 60 times at different speeds between 1 and 2 m/s. The adaptability and shock absorption capacity of the proposed landing system is then evaluated and benchmarked against rigid legs. It reveals that the system is able to adapt to varied surface structures and reduce impact force by 540N at maximum. The bioinspired landing strategy presented in this paper opens a promising avenue in Aerial Biorobotics, where a cross‐disciplinary approach in vehicle control and navigation is combined with soft technologies, enabled with adaptive morphology.

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“…Multilayer fabrication-based SCM and relative processes so far enabled fabrication of many famous miniature robots such as RoACH family of robots [6], [7], DASH [8], and HAMR [9]. The single layer derivative of SCM, the foldable robots technique, was initially proposed as the idea of origami inspired printable robotics [10], and exploited in a variety of works in miniature robotics to grasp [11], [12], fly [13], crawl [14], [15] and walk [16], [17], [18]. Moreover, mechanisms that can fold itself has been developed with the aid of shape-memory sheets [19].…”

Section: Introductionmentioning

confidence: 99%

C-Quad: A miniature, foldable quadruped with C-shaped compliant legs

Guc

Kalın

Karakadioglu

et al. 2017

2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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C-Quad is an origami-inspired, foldable, miniature robot whose legs and body are all machined from one PET sheet each. The already famous compliant legs are modified such that they can be manufactured from a flat PET sheet and folded into the C-shape wanted. The compliant legs enable the miniature robot to run fast and scale obstacles with ease due to the geometry of the legs. C-Quad has four legs that are manufactured separately from the main body frame, which is also manufactured from a single PET sheet. All of its legs are actuated individually with a total of four DC motors. Despite the thin PET film, the structural rigidity and robustness of the body frame is increased by using specialized folds and locks. The manufacturing and assembly of the robot takes approximately 2.5 hours. C-Quad carries a battery, an Arduino Pro Micro control board, a bluetooth communication module, custom made encoders and commercially available IR sensors for motor speed control and motor drivers, all of which weighs 38 grams. By using very simple control strategies, it can achieve the speed of 2.7 Bodylengths/sec, can perform in-place turns and can climb over obstacles more than half of its height.

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A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery

Cited by 107 publications

References 53 publications

Self‐Folding Metal Origami

Self‐Folding Metal Origami

Bioinspired design of a landing system with soft shock absorbers for autonomous aerial robots

C-Quad: A miniature, foldable quadruped with C-shaped compliant legs

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