Ladybird beetle–inspired compliant origami

Baek, Sang-Min; Yim, Sojung; Chae, Soo-Hwan; Lee, Dae-Young; Cho, Kyu-Jin

doi:10.1126/scirobotics.aaz6262

Cited by 92 publications

(34 citation statements)

References 61 publications

(74 reference statements)

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“…Soft robots are starting to make their way out of the lab: walking [66], swimming [67], and flying [68]. Recent years have also seen entirely new breeds of soft robots emerge: growing vine robots [69] and energy-storing jumping robots [70], opening up new modeling and design problems; and leveraged origami and kirigami techniques for producing complex behaviors with simple and entirely soft structures [71][72][73]. This presents a number of computational design challenges, such as differentiable multi-domain simulation for swimming and flying robots, or how to appropriately simulate robot interactions with unstructured and potentially unknown environments.…”

Section: Open Problemsmentioning

confidence: 99%

Design and Control of Soft Robots Using Differentiable Simulation

2021

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Purpose of Review We discuss the use of differentiable simulation for computational problems in soft robotics. This includes characterizing the mechanical behavior of soft robots, optimally controlling embedded soft actuators or active materials, and estimating the robot's state from readings of embedded sensors. Moreover, we discuss how design optimization can help to optimally place soft actuators and sensors. Recent Findings We expatiate on the adoption of simulation and optimization tools in the process of designing and controlling soft robots. We include a discussion of rigid-flexible systems and the use of differentiable simulation in combination with machine learning. Summary We review the state of the art in the computational modeling of soft robots and provide a summary of the required mathematical tools. We also review several open questions where computation could help to move the field forward, and discuss the role of differentiable simulation in managing the ever-growing design complexity of next-generation soft robots. Keywords Differentiable simulation • Computational design and control • State estimation • Sensor and actuator design This article is part of the Topical Collection on Soft Robotics

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Section: Open Problemsmentioning

confidence: 99%

Design and Control of Soft Robots Using Differentiable Simulation

2021

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“…Moreover, the existence of these micro-protrusions helps to increase the friction force between the hind wings and the elytra [30], thus reducing the number of reciprocating brushings of the abdomen and helping decreasing the power consumption of C. buqueti. The folding of the hind wings is structurally similar to the folding of a tape-spring-shaped vein [28,31]. The tape spring is a thin elastic strip with a curved cross section, which not only recovers its original state by elastic force after bending under the action of an external force, but also has strong anti-interference ability after the external force has flattened.…”

Section: Introductionmentioning

confidence: 97%

Design of Bionic Foldable Wing Mimicking the Hind Wings of theC. BuquetiBamboo Weevil

Guo

et al. 2021

Journal of Mechanical Design

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The bamboo weevil, Cyrtotrachelus buqueti, has excellent flight ability and strong environmental adaptability. When it flies, its fore wings and hind wings are unfolded, whereas when it crawls, its fore wings are closed, and its flexible hind wings are regularly folded under the fore wings. In this paper, the hind wing folding/unfolding pattern of C. buqueti is analyzed and a new bionic foldable wing with rigid–flexible coupling consisting of a link mechanism and a wing membrane is constructed. The movement of the link at the wing base mimics the contraction of a muscle in the thorax that triggers scissor-like motion and the deployment of the veins. Elastic hinges are used to mimic the rotational motion of the wing base and the vein joints. The static/dynamic characteristics of bionic foldable wings are further analyzed, and the LS-DYNA software is used to investigate rigid–flexible coupling dynamics. The elastic deformation of the wing membrane, kinematic characteristics of the linkage mechanism, and modes of the whole system are calculated. Static analysis of the structure reveals that the foldable wing has excellent stiffness characteristics and load-bearing capacity. The bionic foldable wing is constructed using 3D printing technology, and its folding and unfolding performance is tested. Evaluation of its performance shows that the bionic wing has a large fold ratio and can achieve stable folding and unfolding motions. A slightly tighter assembly between the pin and the hinge hole ensures that the wing does not fold back during flapping.

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“…It can be found in the literature that thin-film devices are widely used in flexible electronics/optoelectronics, biomedical devices, energy storage, and conversion systems [ 32 , 33 ]. Through structural design, such as origami [ 34 ], kirigami [ 35 ], bending [ 36 ], and winding [ 37 ], a thin piezoelectric film can be transformed to various two-dimensional (2D) or three-dimensional (3D) structures [ 38 ], which can give the devices new features such as stretchability and also enable them to deliver an accurate output in the required application conditions.…”

Section: Introductionmentioning

confidence: 99%

Active-Sensing Epidermal Stretchable Bioelectronic Patch for Noninvasive, Conformal, and Wireless Tendon Monitoring

Shu

Chen

et al. 2021

Research

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Sensors capable of monitoring dynamic mechanics of tendons throughout a body in real time could bring systematic information about a human body’s physical condition, which is beneficial for avoiding muscle injury, checking hereditary muscle atrophy, and so on. However, the development of such sensors has been hindered by the requirement of superior portability, high resolution, and superb conformability. Here, we present a wearable and stretchable bioelectronic patch for detecting tendon activities. It is made up of a piezoelectric material, systematically optimized from architectures and mechanics, and exhibits a high resolution of 5.8×10−5 N with a linearity parameter of R2=0.999. Additionally, a tendon real-time monitoring and healthcare system is established by integrating the patch with a micro controller unit (MCU), which is able to process collected data and deliver feedback for exercise evaluation. Specifically, through the patch on the ankle, we measured the maximum force on the Achilles tendon during jumping which is about 16312 N, which is much higher than that during normal walking (3208 N) and running (5909 N). This work not only provides a strategy for facile monitoring of the variation of the tendon throughout the body but also throws light on the profound comprehension of human activities.

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Ladybird beetle–inspired compliant origami

Cited by 92 publications

References 61 publications

Design and Control of Soft Robots Using Differentiable Simulation

Design and Control of Soft Robots Using Differentiable Simulation

Design of Bionic Foldable Wing Mimicking the Hind Wings of theC. BuquetiBamboo Weevil

Active-Sensing Epidermal Stretchable Bioelectronic Patch for Noninvasive, Conformal, and Wireless Tendon Monitoring

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