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Kim S, Kang J, Yoo S, Cha Y. Spring toy-inspired soft robots with electrohydraulic actuators. Sci Rep 2024; 14:20011. [PMID: 39198636 PMCID: PMC11358452 DOI: 10.1038/s41598-024-71018-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/21/2024] [Accepted: 08/23/2024] [Indexed: 09/01/2024] Open
Abstract
Toys are useful resources for structural inspiration in science and engineering. Their fascinating structures provide new strategies for robotics, particularly in overcoming challenging obstacles and increasing adaptability to unstructured environments. Recent advances in actuators made of soft materials have enabled robots to exhibit safer and more adaptive behaviors during locomotion. However, it is still difficult to descend quickly without falling off at the drop point. In the same context, we recall playing with spring toys descending on stairs. In this paper, we introduce an electrohydraulic-based soft robot inspired by the structure of spring toys. The robot demonstrated a novel and previously unreported ability to descend a series of stairs. Specifically, the soft robot consisted of a helical structure and multiple electrohydraulic actuators. A helical structure was used to accommodate the expansion of the electrohydraulic actuators and to operate a wider range of bending motions. This design prevents unpredictable falls and achieves operation while maintaining a sufficient level of flexibility. We also experimentally investigated the actuation characteristics of the soft robot in terms of motion and force. Additionally, we demonstrated a soft gripper using the spring toy-inspired robot as another potential application.
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Affiliation(s)
- Sohyun Kim
- School of Electrical Engineering, Korea University, Seoul, 02841, Republic of Korea
| | - Joohyeon Kang
- Department of Smart Convergence, Korea University, Seoul, 02841, Republic of Korea
| | - Seunghoon Yoo
- School of Electrical Engineering, Korea University, Seoul, 02841, Republic of Korea
| | - Youngsu Cha
- School of Electrical Engineering, Korea University, Seoul, 02841, Republic of Korea.
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2
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Hanson N, Mensah IA, Roberts SF, Healey J, Wu C, Dorsey KL. Controlling the fold: proprioceptive feedback in a soft origami robot. Front Robot AI 2024; 11:1396082. [PMID: 38835929 PMCID: PMC11148277 DOI: 10.3389/frobt.2024.1396082] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/05/2024] [Accepted: 04/23/2024] [Indexed: 06/06/2024] Open
Abstract
We demonstrate proprioceptive feedback control of a one degree of freedom soft, pneumatically actuated origami robot and an assembly of two robots into a two degree of freedom system. The base unit of the robot is a 41 mm long, 3-D printed Kresling-inspired structure with six sets of sidewall folds and one degree of freedom. Pneumatic actuation, provided by negative fluidic pressure, causes the robot to contract. Capacitive sensors patterned onto the robot provide position estimation and serve as input to a feedback controller. Using a finite element approach, the electrode shapes are optimized for sensitivity at larger (more obtuse) fold angles to improve control across the actuation range. We demonstrate stable position control through discrete-time proportional-integral-derivative (PID) control on a single unit Kresling robot via a series of static set points to 17 mm, dynamic set point stepping, and sinusoidal signal following, with error under 3 mm up to 10 mm contraction. We also demonstrate a two-unit Kresling robot with two degree of freedom extension and rotation control, which has error of 1.7 mm and 6.1°. This work contributes optimized capacitive electrode design and the demonstration of closed-loop feedback position control without visual tracking as an input. This approach to capacitance sensing and modeling constitutes a major step towards proprioceptive state estimation and feedback control in soft origami robotics.
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Affiliation(s)
- Nathaniel Hanson
- Institute for Experiential Robotics, Northeastern University, Boston, MA, United States
| | | | - Sonia F Roberts
- Department of Mathematics and Computer Science, Wesleyan University, Middletown, CT, United States
| | - Jessica Healey
- Institute for Experiential Robotics, Northeastern University, Boston, MA, United States
| | - Celina Wu
- Institute for Experiential Robotics, Northeastern University, Boston, MA, United States
| | - Kristen L Dorsey
- Institute for Experiential Robotics, Northeastern University, Boston, MA, United States
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Leanza S, Wu S, Sun X, Qi HJ, Zhao RR. Active Materials for Functional Origami. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2302066. [PMID: 37120795 DOI: 10.1002/adma.202302066] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/04/2023] [Revised: 04/13/2023] [Indexed: 06/19/2023]
Abstract
In recent decades, origami has been explored to aid in the design of engineering structures. These structures span multiple scales and have been demonstrated to be used toward various areas such as aerospace, metamaterial, biomedical, robotics, and architectural applications. Conventionally, origami or deployable structures have been actuated by hands, motors, or pneumatic actuators, which can result in heavy or bulky structures. On the other hand, active materials, which reconfigure in response to external stimulus, eliminate the need for external mechanical loads and bulky actuation systems. Thus, in recent years, active materials incorporated with deployable structures have shown promise for remote actuation of light weight, programmable origami. In this review, active materials such as shape memory polymers (SMPs) and alloys (SMAs), hydrogels, liquid crystal elastomers (LCEs), magnetic soft materials (MSMs), and covalent adaptable network (CAN) polymers, their actuation mechanisms, as well as how they have been utilized for active origami and where these structures are applicable is discussed. Additionally, the state-of-the-art fabrication methods to construct active origami are highlighted. The existing structural modeling strategies for origami, the constitutive models used to describe active materials, and the largest challenges and future directions for active origami research are summarized.
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Affiliation(s)
- Sophie Leanza
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Shuai Wu
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
| | - Xiaohao Sun
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - H Jerry Qi
- The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, 30332, USA
| | - Ruike Renee Zhao
- Department of Mechanical Engineering, Stanford University, Stanford, CA, 94305, USA
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Vazquez-Perez F, Gila-Vilchez C, Leon-Cecilla A, Álvarez de Cienfuegos L, Borin D, Odenbach S, Martin JE, Lopez-Lopez MT. Fabrication and Actuation of Magnetic Shape-Memory Materials. ACS APPLIED MATERIALS & INTERFACES 2023; 15. [PMID: 37924281 PMCID: PMC10658454 DOI: 10.1021/acsami.3c14091] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/20/2023] [Revised: 10/20/2023] [Accepted: 10/24/2023] [Indexed: 11/06/2023]
Abstract
Soft actuators are deformable materials that change their dimensions or shape in response to external stimuli. Among the various stimuli, remote magnetic fields are one of the most attractive forms of actuation, due to their ease of use, fast response, and safety in biological systems. Composites of magnetic particles with polymer matrices are the most common materials for magnetic soft actuators. In this paper, we demonstrate the fabrication and actuation of magnetic shape-memory materials based on hydrogels containing field-structured magnetic particles. These actuators are formed by placing the pregel dispersion into a mold of the desired on-field shape and exposing it to a homogeneous magnetic field until the gel point is reached. At this point, the material may be removed from the mold and fully gelled in the desired off-field shape. The resultant magnetic shape-memory material then transitions between these two shapes when it is subjected to successive cycles of a homogeneous magnetic field, acting as a large deformation actuator. For actuators that are planar in the off-field state, this can result in significant bending to return to the on-field state. In addition, it is possible to make shape-memory materials that twist under the application of a magnetic field. For these torsional actuators, both experimental and theoretical results are given.
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Affiliation(s)
- Francisco
J. Vazquez-Perez
- Departamento
de Física Aplicada, Universidad de
Granada, C.U. Fuentenueva, Granada E-18071, Spain
- Instituto
de Investigación Biosanitaria ibs.GRANADA, Avda. de Madrid 15, Granada E-18012, Spain
| | - Cristina Gila-Vilchez
- Departamento
de Física Aplicada, Universidad de
Granada, C.U. Fuentenueva, Granada E-18071, Spain
- Instituto
de Investigación Biosanitaria ibs.GRANADA, Avda. de Madrid 15, Granada E-18012, Spain
| | - Alberto Leon-Cecilla
- Departamento
de Física Aplicada, Universidad de
Granada, C.U. Fuentenueva, Granada E-18071, Spain
- Instituto
de Investigación Biosanitaria ibs.GRANADA, Avda. de Madrid 15, Granada E-18012, Spain
| | - Luis Álvarez de Cienfuegos
- Instituto
de Investigación Biosanitaria ibs.GRANADA, Avda. de Madrid 15, Granada E-18012, Spain
- Departamento
de Química Orgánica, Unidad de Excelencia Química
Aplicada a Biomedicina y Medioambiente, Universidad de Granada, C. U. Fuentenueva, Granada E-18071, Spain
| | - Dmitry Borin
- Chair
of Magnetofluiddynamics, Measuring and Automation Technology, Technische Universität Dresden, George-Bähr-Strasse 3, Dresden 01069, Germany
| | - Stefan Odenbach
- Chair
of Magnetofluiddynamics, Measuring and Automation Technology, Technische Universität Dresden, George-Bähr-Strasse 3, Dresden 01069, Germany
| | - James E. Martin
- Sandia
National Laboratories, Albuquerque, New Mexico 87059, United States
| | - Modesto T. Lopez-Lopez
- Departamento
de Física Aplicada, Universidad de
Granada, C.U. Fuentenueva, Granada E-18071, Spain
- Instituto
de Investigación Biosanitaria ibs.GRANADA, Avda. de Madrid 15, Granada E-18012, Spain
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Park S, Park E, Lee M, Lim S. Shape-Morphing Antenna Array by 4D-Printed Multimaterial Miura Origami. ACS APPLIED MATERIALS & INTERFACES 2023; 15:49843-49853. [PMID: 37842825 DOI: 10.1021/acsami.3c11425] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/17/2023]
Abstract
The rapid development of four-dimensional (4D) printing technology has resulted in its application in various fields, including radiofrequency (RF) electronics. Moreover, because origami-inspired RF electronics provide a physically deformable geometry, they are good candidates for reconfigurable RF applications. However, previous origami-inspired RF electronics have generally been fabricated on paper for easy folding and unfolding. Although this facilitates easy fabrication, the resultant structures suffer from a lack of rigidity and stability. In this paper, we propose a 4D-printed multimaterial Miura origami structure for RF spectrum applications. For thermal actuation and robustness, the proposed structure consists of high-temperature durable cores with shape memory polymer (SMP) hinges. The high-temperature durable cores provide rigidity to the desired part and reduce the level of distortion of the conductive pattern, while the SMP hinges enable shape morphing. To demonstrate the feasibility of the technique for RF electronics, a shape-morphing pattern reconfigurable antenna array is designed at 2.4 GHz using the proposed 4D-printed multimaterial structure. Through numerical and experimental demonstrations, the proposed antenna's maximum beam direction is changed from 0° to 50° by thermally morphing the Miura origami. In addition, the antenna successfully recovers to its memorized original state.
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Affiliation(s)
- Seyeon Park
- Department of Intelligent Semiconductor Engineering, Chung-Ang University, Heukseok-Dong, Dongjak-Gu, Seoul 06974, Republic of Korea
| | - Eiyong Park
- School of Electrical and Electronic Engineering, Chung-Ang University, Heukseok-Dong, Dongjak-Gu, Seoul 06974, Republic of Korea
| | - Minjae Lee
- School of Electrical and Electronic Engineering, Chung-Ang University, Heukseok-Dong, Dongjak-Gu, Seoul 06974, Republic of Korea
| | - Sungjoon Lim
- Department of Intelligent Semiconductor Engineering, Chung-Ang University, Heukseok-Dong, Dongjak-Gu, Seoul 06974, Republic of Korea
- School of Electrical and Electronic Engineering, Chung-Ang University, Heukseok-Dong, Dongjak-Gu, Seoul 06974, Republic of Korea
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Son H, Park Y, Na Y, Yoon C. 4D Multiscale Origami Soft Robots: A Review. Polymers (Basel) 2022; 14:polym14194235. [PMID: 36236182 PMCID: PMC9571758 DOI: 10.3390/polym14194235] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/18/2022] [Revised: 09/29/2022] [Accepted: 10/06/2022] [Indexed: 11/06/2022] Open
Abstract
Time-dependent shape-transferable soft robots are important for various intelligent applications in flexible electronics and bionics. Four-dimensional (4D) shape changes can offer versatile functional advantages during operations to soft robots that respond to external environmental stimuli, including heat, pH, light, electric, or pneumatic triggers. This review investigates the current advances in multiscale soft robots that can display 4D shape transformations. This review first focuses on material selection to demonstrate 4D origami-driven shape transformations. Second, this review investigates versatile fabrication strategies to form the 4D mechanical structures of soft robots. Third, this review surveys the folding, rolling, bending, and wrinkling mechanisms of soft robots during operation. Fourth, this review highlights the diverse applications of 4D origami-driven soft robots in actuators, sensors, and bionics. Finally, perspectives on future directions and challenges in the development of intelligent soft robots in real operational environments are discussed.
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Affiliation(s)
- Hyegyo Son
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
| | - Yunha Park
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
| | - Youngjin Na
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
- Correspondence: (Y.N.); (C.Y.)
| | - ChangKyu Yoon
- Department of Mechanical Systems Engineering, Sookmyung Women’s University, Seoul 04310, Korea
- Institute of Advanced Materials and Systems, Sookmyung Women’s University, Seoul 04310, Korea
- Correspondence: (Y.N.); (C.Y.)
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