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

Abstract

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.

4D Multiscale Origami Soft Robots: A Review

“…Deployment and stacking strategies have been extensively used to fabricate complex origami structures composed of several materials with diverse crease patterns displayed [ 103 , 104 ]. In short, the deployment and stacking method is primarily utilized to create crease patterns and integrate various material-based patterns [ 50 , 105 , 106 , 107 ] or multi-step patterning [ 108 ] into a single mechanical system. Using this multi-selective fabrication method, Overvelde et al, fabricated a single extruded cube unit cell ( Figure 2 D) [ 106 ].…”

Zero‐Power Shape Retention in Soft Pneumatic Actuators with Extensional and Bending Multistability

“…Non-pneumatic actuation [25][26][27] typically involves the use of one or more smart materials, capable of deforming in response to an actuation input, such as electricity, [28][29][30][31][32][33][34][35][36][37] a magnetic field [38][39][40] and light. [41,42] A classical concept consists of two layers, one stimuli-responsive and the other strain-limiting; due to either chemical changes [42] or phase transitions [36,41] within each layer, bending deformation is attained with locking in given states.…”

Fabrication and Actuation of Magnetic Shape-Memory Materials

“…Soft robotics is a field of robotics that is based on the use of easily deformable, mechanically resilient materials intended for a variety of applications, such as soft grippers and artificial muscles. − Unlike their rigid counterparts, soft robotic materials are intrinsically safe for contact use with humans such as in medical devices. These soft actuators can change dimensions and/or shape and can undergo locomotion, in response to stimuli such as pH, light, heat, solvent, electric or magnetic fields, etc. − Among these stimuli, applied magnetic fields are one of the most attractive ways of actuation, due to their ease of application, prompt response, and safety in biological systems. − …”