Fast, compact, and lightweight shape-shifting system composed of distributed self-folding origami modules

Kim, Sa-Reum; Lee, Dae-Young; Koh, Je‐Sung; Cho, Kyu-Jin

doi:10.1109/icra.2016.7487704

Cited by 15 publications

(11 citation statements)

References 17 publications

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“…Though several shape changing interfaces are present in past literature, many of these aim only for visual data representation and lack the force capability and mechanical robustness for haptic feedback and interaction [45]- [47]. While tactile shape displays may modify the shape of a single plane for haptic feedback, the volume of the drive mechanism often exceeds the workspace of the active surface by several factors [48]- [50].…”

Section: B Navigation Technologymentioning

confidence: 99%

Testing a Shape-Changing Haptic Navigation Device With Vision-Impaired and Sighted Audiences in an Immersive Theater Setting

Spiers

Linden

Wiseman

et al. 2018

IEEE Trans. Human-Mach. Syst.

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Flatland was an immersive 'in-the-wild' experimental theatre and technology project, undertaken with the goals of developing systems that could assist 'real-world' pedestrian navigation for both vision impaired (VI) and sighted individuals, while also exploring inclusive and equivalent cultural experiences for VI and sighted audiences. A novel shape-changing handheld haptic navigation device, the 'Animotus', was developed. The device has the ability to modify its form in the user's grasp to communicate heading and proximity to navigational targets. Flatland provided a unique opportunity to comparatively study the use of novel navigation devices with a large group of individuals (79 sighted, 15 VI) who were primarily attending a theatre production rather than an experimental study. In this paper we present our findings on comparing the navigation performance (measured in terms of efficiency, average pace and time facing targets) and opinions of VI and sighted users of the Animotus as they negotiated the 112m 2 production environment. Differences in navigation performance was non-significant across VI and sighted individuals and a similar range of opinions on device function and engagement spanned both groups. We believe more structured device familiarization, particularly for VI users, could improve performance and incorrect technology expectations (such as obstacle avoidance capability), which influenced overall opinion. This work is intended to aid the development of future inclusive technologies and cultural experiences.

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Section: B Navigation Technologymentioning

confidence: 99%

Testing a Shape-Changing Haptic Navigation Device With Vision-Impaired and Sighted Audiences in an Immersive Theater Setting

Spiers

Linden

Wiseman

et al. 2018

IEEE Trans. Human-Mach. Syst.

View full text Add to dashboard Cite

show abstract

“… 24 There are multiple examples of systems where higher capability was achieved by stacking functional modules together. 25–47 …”

Section: Introductionmentioning

confidence: 99%

Limpet II: A Modular, Untethered Soft Robot

et al. 2021

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The ability to navigate complex unstructured environments and carry out inspection tasks requires robots to be capable of climbing inclined surfaces and to be equipped with a sensor payload. These features are desirable for robots that are used to inspect and monitor offshore energy platforms. Existing climbing robots mostly use rigid actuators, and robots that use soft actuators are not fully untethered yet. Another major problem with current climbing robots is that they are not built in a modular fashion, which makes it harder to adapt the system to new tasks, to repair the system, and to replace and reconfigure modules. This work presents a 450 g and a 250 • 250 • 140 mm modular, untethered hybrid hard/soft robot-Limpet II. The Limpet II uses a hybrid electromagnetic module as its core module to allow adhesion and locomotion capabilities. The adhesion capability is based on negative pressure adhesion utilizing suction cups. The locomotion capability is based on slip-stick locomotion. The Limpet II also has a sensor payload with nine different sensing modalities, which can be used to inspect and monitor offshore structures and the conditions surrounding them. Since the Limpet II is designed as a modular system, the modules can be reconfigured to achieve multiple tasks. To demonstrate its potential for inspection of offshore platforms, we show that the Limpet II is capable of responding to different sensory inputs, repositioning itself within its environment, adhering to structures made of different materials, and climbing inclined surfaces.

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“…6 This increased capability allows modular collectives to be used for tasks that are not possible with monolithic robots such as reconfigurable furniture 7 and modeling cell collectives. 8 Although modular actuators can also be combined into a single system for tasks such as controllable surfaces, 9–11 collectives of modular robots have the advantages of reconfigurability and inbuilt sensing and computation.…”

Section: Introductionmentioning

confidence: 99%

“…25–28 Second, we rearrange the units used for peristaltic locomotion into a grid to create a peristaltic table that is capable of moving objects over the surface. 29,30 Two-dimensional (2D) matrices of actuators have been created by Kim et al ., 9 Stanley et al ., 10 and Follmer et al ., 11 and these arrays could be adapted to allow a system designer to make a peristaltic table.…”

Section: Introductionmentioning

confidence: 99%

Linbots: Soft Modular Robots Utilizing Voice Coils

et al. 2019

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Robots performing automated tasks in uncontrolled environments need to adapt to environmental changes. Through building large collectives of robots, this robust and adaptive behavior can emerge from simple individual rules. These collectives can also be reconfigured, allowing for adaption to new tasks. Larger collectives are more robust and more capable, but the size of existing collectives is limited by the cost of individual units. In this article, we present a soft, modular robot that we have explicitly designed for manufacturability: Linbots. Linbots use multifunctional voice coils to actuate linearly, to produce audio output, and to sense touch. When used in collectives, the Linbots can communicate with neighboring Linbots allowing for isolated behavior as well as the propagation of information throughout a collective. We demonstrate that these collectives of Linbots can perform complex tasks in a scalable distributed manner, and we show transport of objects by collective peristalsis and sorting of objects by a two-dimensional array of Linbots.

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Fast, compact, and lightweight shape-shifting system composed of distributed self-folding origami modules

Cited by 15 publications

References 17 publications

Testing a Shape-Changing Haptic Navigation Device With Vision-Impaired and Sighted Audiences in an Immersive Theater Setting

Testing a Shape-Changing Haptic Navigation Device With Vision-Impaired and Sighted Audiences in an Immersive Theater Setting

Limpet II: A Modular, Untethered Soft Robot

Linbots: Soft Modular Robots Utilizing Voice Coils

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