A portable three-degrees-of-freedom force feedback origami robot for human–robot interactions

Mintchev, Stefano; Salerno, Marco; Cherpillod, Alexandre; Scaduto, Simone; Paik, Jamie

doi:10.1038/s42256-019-0125-1

Cited by 61 publications

(38 citation statements)

References 43 publications

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“…By micro-machining these individual layers (selectively removing material), bending behaviors can be further restricted to specific regions of the composite. This enables "pop-up" mechanisms, such as the origami-inspired joystick by Mintchev et al [33], or the millimeter-scale delta robot by McClintock et al [31]. In each of these systems, the composites consist of a flexible layer (polyimide), sandwiched between two rigid layers (fiberglass, or carbon-fiber).…”

Section: Soft and Foldable Robotsmentioning

confidence: 99%

Layer by Layer, Patterned Valves Enable Programmable Soft Surfaces

Gonzalez

Hudson

2022

Proc. ACM Interact. Mob. Wearable Ubiquitous Technol.

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Programmable surfaces, which can be instructed to alter their shape or texture, may one day serve as a platform for tangible interfaces and adaptive environments. But so far, these structures have been constrained in scale by a challenging fabrication process, as the numerous constituent actuators must be built and assembled individually. We look towards emerging trends in mechanical engineering and consider an alternate framework --- layer-driven design, which enables the production of dynamic, discretely-actuated surfaces at multiple scales. By centering the construction around patterning and stacking, forgoing individual assembly in favor of bulk processes such as photo-etching and laser cutting, we avoid the need for multiple manufacturing steps that are repeated for each of the many actuators that compose the surface. As an instance of this layer-driven model, we build an array of electrostatic valves, and use this composite material (which we refer to as Stoma-Board) to drive four types of pneumatic transducers. We also show how this technique may be readily industrialized, through integration with the highly mature and automated manufacturing processes of modern electronics.

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Section: Soft and Foldable Robotsmentioning

confidence: 99%

Layer by Layer, Patterned Valves Enable Programmable Soft Surfaces

Gonzalez

Hudson

2022

Proc. ACM Interact. Mob. Wearable Ubiquitous Technol.

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“…Dynamic tactile perception: (a) quadruple tactile sensor (G. Li et al, 2020), (b) E‐skin‐integrated wirelessly activated fully soft robotic system (Trivedi, Rahn, et al, 2008), (c) silicon glove with embedded sensos (Mura et al, 2020), (d) soft actuator integrated with TENG sensors (Jin et al, 2020), (e) foldaway haptic interfaces (Mintchev et al, 2019), (f) soft magnetic skin (Yan et al, 2021), (g) stretchable elastic synaptic transistors (Shim et al, 2019), (h) biosensing soft gripper(Justus et al, 2019), (i) flexible textile tactile sensors (Sankar et al, 2020) [Color figure can be viewed at wileyonlinelibrary.com]…”

Section: Enabling Technologies Of the Soft Manipulatormentioning

confidence: 99%

A review of soft manipulator research, applications, and opportunities

Chen

Zhang

Huang

et al. 2021

Journal of Field Robotics

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Soft manipulator is a kind of special manipulator that uses soft material or flexible structure to perform manipulation task under the specific drive mode inspired by the soft tissue. It is developing gradually as an important component of the soft robot. In this paper, the typical design cases of the soft manipulators as well as the related research teams are firstly investigated. The characteristics of different drive modes are compared and analyzed. Based on these investigations, the enabling technologies are systematically summarized in five aspects, such as kinematic and dynamic modeling, motion control, shape detection, dynamic tactile perception, and stiffening method. Currently, the research on soft manipulator has initially formed a technical system, although it is still in the primary stage. With the development of the soft manipulator, its overall technology maturity will be gradually improved. Currently, the applications of the soft manipulator lie mainly in the fields of the ground rescue, the underwater grabbing, the medical operation, the assist maintenance, the man–machine interaction, the space manipulation and so on. The application fields, such as origami soft manipulator, biomimetic soft microrobots, self‐healing soft robot, space soft manipulator and so on, emerge new opportunities and challenges for the soft manipulators.

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“…The soft nature of their bodies also prevents sharp injuries to objects they touch, allowing them to enter the human body for drug transport 7 or act as an operator in medical robotic systems during clinical surgeries 8 – 10 . In addition, soft actuators have been widely used as manipulators in large demission robots 11 . In practice, to increase their maneuverability for robotic walking, medical manipulation, and three-dimensional (3D) object grasping, it is crucial to build soft robots with flexible and variable 3D structures.…”

Section: Introductionmentioning

confidence: 99%

Origami-inspired folding assembly of dielectric elastomers for programmable soft robots

Sun

et al. 2022

Microsyst Nanoeng

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Origami has become an optimal methodological choice for creating complex three-dimensional (3D) structures and soft robots. The simple and low-cost origami-inspired folding assembly provides a new method for developing 3D soft robots, which is ideal for future intelligent robotic systems. Here, we present a series of materials, structural designs, and fabrication methods for developing independent, electrically controlled origami 3D soft robots for walking and soft manipulators. The 3D soft robots are based on soft actuators, which are multilayer structures with a dielectric elastomer (DE) film as the deformation layer and a laser-cut PET film as the supporting flexible frame. The triangular and rectangular design of the soft actuators allows them to be easily assembled into crawling soft robots and pyramidal- and square-shaped 3D structures. The crawling robot exhibits very stable crawling behaviors and can carry loads while walking. Inspired by origami folding, the pyramidal and square-shaped 3D soft robots exhibit programmable out-of-plane deformations and easy switching between two-dimensional (2D) and 3D structures. The electrically controllable origami deformation allows the 3D soft robots to be used as soft manipulators for grasping and precisely locking 3D objects. This work proves that origami-inspired fold-based assembly of DE actuators is a good reference for the development of soft actuators and future intelligent multifunctional soft robots.

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A portable three-degrees-of-freedom force feedback origami robot for human–robot interactions

Cited by 61 publications

References 43 publications

Layer by Layer, Patterned Valves Enable Programmable Soft Surfaces

Layer by Layer, Patterned Valves Enable Programmable Soft Surfaces

A review of soft manipulator research, applications, and opportunities

Origami-inspired folding assembly of dielectric elastomers for programmable soft robots

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