Leaf-Like Origami with Bistability for Self-Adaptive Grasping Motions

Yasuda, Hiromi; Johnson, Kyle; Arroyos, Vicente; Yamaguchi, Koshiro; Raney, Jordan R.; Yang, Jinkyu

doi:10.1089/soro.2021.0008

Cited by 23 publications

(15 citation statements)

References 24 publications

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“…A uniform transformation has all n cells with equal ψ values throughout each folding stage and all mountain and valley crease assignments maintained throughout each folding stage. Using the assumptions stated above, it has been shown that we can estimate the peak energy required to transition the structure by conducting an energy analysis based on the kinematics of the leaf-out structure ( 13 , 14 ). Figure 3B shows the energy required to transition the structure between states for a variety of leaf-out configurations with different n cells .…”

Section: Resultsmentioning

confidence: 99%

“…To understand the energy requirements for changing the origami shape, we looked to prior works on leaf-out origami simulations to model the kinematics of the structure in different configurations [47,48]. It has been shown that we can analyze different configurations of the leafout structure using the rigid origami simulation technique, where we assumed that the crease line folds are represented as torsional springs, each Miura-ori cell exhibits a single degree-of-freedom (DOF) folding motion, and transformations are assumed to be uniform [17,42,47,48]. A uniform transformation has all 𝑛 𝑐𝑒𝑙𝑙𝑠 with equal 𝜓 values throughout each folding stage, and all mountain and valley crease assignments maintained throughout each folding stage.…”

Section: Resultsmentioning

confidence: 99%

“…Using the kinematic models developed in [47,48], we analyze the energy required to fold the structure to an angle 𝜓. We model each crease line 𝑗 as a torsional spring with spring constant 𝜅 𝑗 and folding angle 𝜌 𝑗 , defined as the complement of the angle between adjacent surfaces connected by that crease.…”

Section: Leaf-out Origami Kinematic Simulationmentioning

confidence: 99%

“…, 𝑁 𝑇 𝑜𝑡𝑎𝑙 ). We use the relationships developed in prior rigid origami models [42,47,48] to numerically solve for the individual fold angles 𝜌 𝑗 as a function of 𝜓. We implement this using a custom Python simulation visualization framework developed in the authors prior work [48].…”

Section: Leaf-out Origami Kinematic Simulationmentioning

confidence: 99%

“…Given the limited and intermittent nature of solar harvesting, instead of continuous actuation, our microflier design used leafout origami based on the Miura-ori building block to produce bistable structures (12)(13)(14). These structures maintained their configuration in either of their two states without any active energy consumption.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Solar-powered shape-changing origami microfliers

Johnson,

Arroyos,

Ferran

et al. 2023

Sci. Robot.

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Using wind to disperse microfliers that fall like seeds and leaves can help automate large-scale sensor deployments. Here, we present battery-free microfliers that can change shape in mid-air to vary their dispersal distance. We designed origami microfliers using bistable leaf-out structures and uncovered an important property: A simple change in the shape of these origami structures causes two dramatically different falling behaviors. When unfolded and flat, the microfliers exhibit a tumbling behavior that increases lateral displacement in the wind. When folded inward, their orientation is stabilized, resulting in a downward descent that is less influenced by wind. To electronically transition between these two shapes, we designed a low-power electromagnetic actuator that produces peak forces of up to 200 millinewtons within 25 milliseconds while powered by solar cells. We fabricated a circuit directly on the folded origami structure that includes a programmable microcontroller, a Bluetooth radio, a solar power–harvesting circuit, a pressure sensor to estimate altitude, and a temperature sensor. Outdoor evaluations show that our 414-milligram origami microfliers were able to electronically change their shape mid-air, travel up to 98 meters in a light breeze, and wirelessly transmit data via Bluetooth up to 60 meters away, using only power collected from the sun.

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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Section: Leaf-out Origami Kinematic Simulationmentioning

confidence: 99%

Section: Leaf-out Origami Kinematic Simulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Solar-powered shape-changing origami microfliers

Johnson,

Arroyos,

Ferran

et al. 2023

Sci. Robot.

Self Cite

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show abstract

“Bobbit Worm”‐Inspired Soft Adaptive Grasper with Self‐Generated Triboelectric Force Sensor

Zhu,

Dai,

Wang

et al. 2023

Advanced Sensor Research

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Soft actuators can realize delicate adaptive grasping of fragile and irregularly shaped objects, which are essential in biological and engineering systems. Yet, critical concerns in the frontier soft graspers are insufficient grasping ability and functional limitations. Here, we propose a Bobbit worm‐inspired multimodal‐sensing adaptive soft grasper (MSASG) enabled by harnessing the Miura‐origami skeleton integrated with self‐generated triboelectric force sensors (TFSs). The Miura‐origami skeleton endows the soft grasper a high grasping force while provides an energy‐efficient way to passively embrace an object without extra energy input. A multimodal TFSs with tactile sensing (TFS‐1) and pressure‐feedback (TFS‐2) functions is constructed by directly packaging a pyramid‐pattern elastic film on the Miura‐origami skeleton. The MSASG implement fast grasping or releasing action by evaluating pressures of various approaching prey, including hermit crabs, crickets, and beetle, etc. And its sensitivity greater than 0.18 V mN−1. In particular, the grasping performances and triboelectric sensing capacity can be optimized by modulating topological parameters (crease length, and surface film thickness, etc.), using a combination of theoretical modeling, finite element simulations, and experiments. The bionic design of soft graspers broadens the future applications for versatile human‐robot‐environment interaction scenarios, such as adaptive robots, reconfigurable architectures, medical devices, and deep‐sea explorations.

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Variable Stiffness Fibers Enabled Universal and Programmable Re‐Foldability Strategy for Modular Soft Robotics

Luan,

Wang,

Zhang

et al. 2023

Advanced Science

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Origami is a rich source of inspiration for creating soft actuators with complex deformations. However, implementing the re‐foldability of origami on soft actuators remains a significant challenge. Herein, a universal and programmable re‐foldability strategy is reported to integrate multiple origami patterns into a single soft origami actuator, thereby enabling multimode morphing capability. This strategy can selectively activate and deactivate origami creases through variable stiffness fibers. The utilization of these fibers enables the programmability of crease pattern quantity and types within a single actuator, which expands the morphing modes and deformation ranges without increasing their physical size and chamber number. The universality of this approach is demonstrated by developing a series of re‐foldable soft origami actuators. Moreover, these soft origami actuators are utilized to construct a bidirectional crawling robot and a multimode soft gripper capable of adapting to object size, grasping orientation, and placing orientation. This work represents a significant step forward in the design of multifunctional soft actuators and holds great potential for the advancement of agile and versatile soft robots.

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Leaf-Like Origami with Bistability for Self-Adaptive Grasping Motions

Cited by 23 publications

References 24 publications

Solar-powered shape-changing origami microfliers

Solar-powered shape-changing origami microfliers

“Bobbit Worm”‐Inspired Soft Adaptive Grasper with Self‐Generated Triboelectric Force Sensor

Variable Stiffness Fibers Enabled Universal and Programmable Re‐Foldability Strategy for Modular Soft Robotics

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