An analytic framework for developing inherently-manufacturable pop-up laminate devices

Aukes, Daniel M.; Goldberg, Benjamin; Cutkosky, Mark R.; Wood, Robert J.

doi:10.1088/0964-1726/23/9/094013

Cited by 36 publications

(32 citation statements)

References 45 publications

(84 reference statements)

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“…When deployed, it must be capable of withstanding up to 7N in order to meet the requirements of the VAD [2]. The unassembled anchor mechanism was designed using 3D CAD software (SolidWorks) and the custom 2D CAD software "popupCAD" [5], which has been developed to design multilayer laminates for folding-based 3D mechanisms. The mechanism consisted of two sublaminates: the first (bottom) sublaminate forms the base of the anchor and the second (top) sublaminate utilizes a bistable parallelogram for pop-up unfolding during deployment.…”

Section: Methodsmentioning

confidence: 99%

Pop-Up-Inspired Design of a Septal Anchor for a Ventricular Assist Device

Temel

McClintock

Wamala

et al. 2017

2017 Design of Medical Devices Conference

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Heart failure (HF) is a serious condition in which the heart cannot pump sufficient blood to sustain the metabolic needs of the body. A common indication of failure is a low ejection fraction, or the volumetric proportion of blood ejected when the ventricle contracts. In end-stage HF, support from a ventricular assist device (VAD) can assume some or all of the heart’s pumping work, improving the ejection fraction and restoring normal circulation. VAD therapy options for end-stage right heart failure (RHF) are limited, with only a few FDA-approved devices available for mechanical circulatory support [1]. These devices are based on continuous flow impellers; and despite anticoagulation therapy, use of currently available VADs is associated with thrombogenic risk since the blood must contact artificial non-biologic surfaces. An implantable VAD for RHF based on soft robotic pulsatile assistance has previously been proposed [2]. This device is comprised of a contractile element that is anchored to the ventricular septum and the right ventricle (RV) free wall. The device is programmed to contract in synchrony with the native heart beat and assist in approximating the septum and free wall together in order to augment blood ejection (Fig. 1). Potential advantages of this approach include reduced risk of thrombosis, since there is no blood flow through the lumen of the device, and the possibility for minimally invasive deployment of the device under ultrasound guidance. A key component in this VAD concept is the anchoring mechanism that couples the contractile actuator to the ventricular septum. In this work, we report design, fabrication and testing of a new septal anchor design. We exploit the emerging technology of pop-up MEMS [3] in order to fabricate a collapsible anchoring mechanism. Origami-inspired engineering and pop-up MEMS manufacturing techniques have previously been used for developing disposable and low-cost medical tools and devices [4]. The pop-up anchor can be deployed into the left ventricle (LV) via a standard delivery sheath. We validate the load bearing ability of the anchor and demonstrate deployment in an ex vivo simulation.

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Section: Methodsmentioning

confidence: 99%

Pop-Up-Inspired Design of a Septal Anchor for a Ventricular Assist Device

Temel

McClintock

Wamala

et al. 2017

2017 Design of Medical Devices Conference

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“…However, the Solidworks design only includes basic sketches of the layers, and not detailed drawings of features. The actual design used for fabrication is done using a new Computer Aided Design and Manufacturing (CAD/CAM) application called popupCAD [1]. Traditional CAD/CAM software, such as Solidworks, does not have any built-in tools to help with unconventional manufacturing methods such as PC-MEMS or SCM.…”

Section: Cad Design Fabrication and Materialsmentioning

confidence: 99%

Monolithic Design and Fabrication of a 2-DOF Bio-Inspired Leg Transmission

Aukes

Özcan

Wood

2014

Biomimetic and Biohybrid Systems

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Abstract. We present the design of a new two degree-of-freedom transmission intended for micro / meso-scale crawling robots which is compatible both with laminate manufacturing techniques and monolithic, "pop-up" assembly methods. This is enabled through a new design suite called "popupCAD", a computer-aided design tool which anticipates laminate manufacturing methods with a suite of operations which simplify the existing design workflow. The design has been prototyped at three times the anticpated scale to better understand the assembly and motion kinematics, and simulated to establish the basic relationships between the actuator and end-effector transmission ratios.

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“…Rigid origami design rules have been applied to mechanism design [24], including the development of a kinematic origami classification guide [25]. Rigid approaches have also been extended to accommodate the finite thickness of panels [26], and origami manufacturing design tools, such as PopUP CAD [27], help streamline the process from design to fabricated prototype. However, for many applications, including soft robotics, the role of mechanics and material compliance are important metrics for consideration when designing the fold topology.…”

Section: Introductionmentioning

confidence: 99%

Design of Soft Origami Mechanisms with Targeted Symmetries

et al. 2018

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The integration of soft actuating materials within origami-based mechanisms is a novel method to amplify the actuated motion and tune the compliance of systems for low stiffness applications. Origami structures provide natural flexibility given the extreme geometric difference between thickness and length, and the energetically preferred bending deformation mode can naturally be used as a form of actuation. However, origami fold patterns that are designed for specific actuation motions and mechanical loading scenarios are needed to expand the library of fold-based actuation strategies. In this study, a recently developed optimization framework for maximizing the performance of compliant origami mechanisms is utilized to discover optimal actuating fold patterns. Variant patterns are discovered through exploring different symmetries in the input and output conditions of the optimization problem. Patterns designed for twist (rotational symmetry) yield significantly better performance, in terms of both geometric advantage and energy requirements, than patterns exhibiting vertical reflection symmetries. The mechanical energy requirements for each design are analyzed and compared for both the small and large applied displacement regimes. Utilizing the patterns discovered through optimization, the multistability of the actuating arms is demonstrated empirically with a paper prototype, where the stable configurations are accessed through local vertex pop-through instabilities. Lastly, the coupled mechanics of fold networks in these actuators yield useful macroscopic motions and can achieve stable shape change through accessing the local vertex instabilities. This survey of origami mechanisms, energy comparison, and multistability characterization provides a new set of designs for future integration with soft actuating materials.

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An analytic framework for developing inherently-manufacturable pop-up laminate devices

Cited by 36 publications

References 45 publications

Pop-Up-Inspired Design of a Septal Anchor for a Ventricular Assist Device

Pop-Up-Inspired Design of a Septal Anchor for a Ventricular Assist Device

Monolithic Design and Fabrication of a 2-DOF Bio-Inspired Leg Transmission

Design of Soft Origami Mechanisms with Targeted Symmetries

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