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Ishiguro R, Kawasetsu T, Motoori Y, Paik J, Hosoda K. Earwig-inspired foldable origami wing for micro air vehicle gliding. Front Robot AI 2023; 10:1255666. [PMID: 38023584 PMCID: PMC10665516 DOI: 10.3389/frobt.2023.1255666] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/09/2023] [Accepted: 10/20/2023] [Indexed: 12/01/2023] Open
Abstract
Foldable wings serve as an effective solution for reducing the size of micro air vehicles (MAVs) during non-flight phases, without compromising the gliding capacity provided by the wing area. Among insects, earwigs exhibit the highest folding ratio in their wings. Inspired by the intricate folding mechanism in earwig hindwings, we aimed to develop artificial wings with similar high-folding ratios. By leveraging an origami hinge, which is a compliant mechanism, we successfully designed and prototyped wings capable of opening and folding in the wind, which helps reduce the surface area by a factor of seven. The experimental evaluation involved measuring the lift force generated by the wings under Reynolds numbers less than 2.2 × 104. When in the open position, our foldable wings demonstrated increased lift force proportional to higher wind speeds. Properties such as wind responsiveness, efficient folding ratios, and practical feasibility highlight the potential of these wings for diverse applications in MAVs.
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Affiliation(s)
- Risa Ishiguro
- Adaptive Robotics Laboratory, Division of Systems Science, Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan
| | - Takumi Kawasetsu
- Adaptive Robotics Laboratory, Division of Systems Science, Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan
| | - Yutaro Motoori
- Fluid Mechanics Group, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan
| | - Jamie Paik
- Reconfigurable Robotics Laboratory, Institute of Mechanical Engineering, School of Engineering, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland
| | - Koh Hosoda
- Adaptive Robotics Laboratory, Division of Systems Science, Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan
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Zhang H, Paik J. Lattice-and-Plate Model: Mechanics Modeling of Physical Origami Robots. Soft Robot 2023; 10:149-158. [PMID: 35714351 DOI: 10.1089/soro.2021.0172] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Origami robots are characterized by their compact design, quasi-two-dimensional manufacturing process, and folding joint-based transmission kinematics. The physical requirements in terms of payload, range of motion, and embedding core robotic components have made it unrealistic to rely on conventional mathematical models for designing these new robots. Therefore, origami robots require a comprehensive approach to model their mechanics. Currently, there is no generalized mechanics model to achieve this goal. Therefore, in this work, we propose a nonlinear lattice-and-plate model to simulate the mechanics of physical origami robots within several seconds, including the localized bending on flexible hinges, global displacements of rigid panels, and trajectory of predefined outputs. Moreover, this proposed model captures the large displacement and self-contact of adjacent panels during locomotion. We validate the efficiency of the model on various origami actuators, grippers, and metamaterials. To conclude, the computational model can help to accelerate the design iteration of origami robots.
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Affiliation(s)
- Hongying Zhang
- Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore
| | - Jamie Paik
- Reconfigurable Robotics Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland
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Marzin T, de Langre E, Ramananarivo S. Shape reconfiguration through origami folding sets an upper limit on drag. Proc Math Phys Eng Sci 2022. [DOI: 10.1098/rspa.2022.0592] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/25/2022] Open
Abstract
Mechanisms of drag reduction through shape reconfiguration have been extensively studied on model geometries of plates and beams that deform primarily in bending. Adding an origami crease pattern to such plates produces a distinct class of deformation modes, with large shape changes along selected degrees of freedom. Here, we investigate the impact of those creases on reconfiguration processes and on drag, focusing on the waterbomb base as a generic case. When placed in a uniform airflow, this origami unit folds into a compact structure, whose frontal area collapses with increasing flow velocity. It enhances drag reduction to the point that fluid loading eventually ceases to increase with flow speed, reaching an upper limit. We further show that this limit is adjustable through the origami structural parameters: the stiffness and rest angle of the folds, and their pattern. Experimental results, corroborated by a fluid–elastic theoretical model, point to a scenario consistent with the previous literature: reconfiguration is governed by a dimensionless Cauchy number that measures the competition between fluid loading and elastic resistance to deformation, here embodied in creases. This foldable system yet stands out through the rare passive drag-capping lever it provides, a valuable asset for self-protection in strong wind.
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Affiliation(s)
- Tom Marzin
- LadHyX, Department of Mechanics, Ecole Polytechnique, Institut Polytechnique de Paris, 91128 Palaiseau, France
| | - Emmanuel de Langre
- LadHyX, Department of Mechanics, Ecole Polytechnique, Institut Polytechnique de Paris, 91128 Palaiseau, France
| | - Sophie Ramananarivo
- LadHyX, Department of Mechanics, Ecole Polytechnique, Institut Polytechnique de Paris, 91128 Palaiseau, France
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Shu J, Wang J, Lau SCY, Su Y, Heung KHL, Shi X, Li Z, Tong RKY. Soft Robots' Dynamic Posture Perception Using Kirigami-Inspired Flexible Sensors with Porous Structures and Long Short-Term Memory (LSTM) Neural Networks. SENSORS (BASEL, SWITZERLAND) 2022; 22:7705. [PMID: 36298057 PMCID: PMC9611759 DOI: 10.3390/s22207705] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/27/2022] [Revised: 10/04/2022] [Accepted: 10/06/2022] [Indexed: 06/16/2023]
Abstract
Soft robots can create complicated structures and functions for rehabilitation. The posture perception of soft actuators is critical for performing closed-loop control for a precise location. It is essential to have a sensor with both soft and flexible characteristics that does not affect the movement of a soft actuator. This paper presents a novel end-to-end posture perception method that employs flexible sensors with kirigami-inspired structures and long short-term memory (LSTM) neural networks. The sensors were developed with conductive sponge materials. With one-step calibration from the sensor output, the posture of the soft actuator could be calculated by the LSTM network. The method was validated by attaching the developed sensors to a soft fiber-reinforced bending actuator. The results showed the accuracy of posture prediction of sponge sensors with three kirigami-inspired structures ranged from 0.91 to 0.97 in terms of R2. The sponge sensors only generated a resistive torque value of 0.96 mNm at the maximum bending position when attached to a soft actuator, which would minimize the effect on actuator movement. The kirigami-inspired flexible sponge sensor could in future enhance soft robotic development.
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Affiliation(s)
- Jing Shu
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR 999077, China
| | - Junming Wang
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR 999077, China
| | | | - Yujie Su
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR 999077, China
| | - Kelvin Ho Lam Heung
- Department of Rehabilitation Sciences, The Hong Kong Polytechnic University, Hong Kong SAR 999077, China
| | - Xiangqian Shi
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR 999077, China
| | - Zheng Li
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR 999077, China
- Department of Surgery, The Chinese University of Hong Kong, Hong Kong SAR 999077, China
| | - Raymond Kai-yu Tong
- Department of Biomedical Engineering, The Chinese University of Hong Kong, Hong Kong SAR 999077, China
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Liu C, Wohlever SJ, Ou MB, Padir T, Felton SM. Shake and Take: Fast Transformation of an Origami Gripper. IEEE T ROBOT 2022. [DOI: 10.1109/tro.2021.3076563] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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Glick PE, Drotman D, Ruffatto D, Tolley MT. High Strength Inflatable Pouch Anchors. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2982069] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Lee K, Wang Y, Zheng C. TWISTER Hand: Underactuated Robotic Gripper Inspired by Origami Twisted Tower. IEEE T ROBOT 2020. [DOI: 10.1109/tro.2019.2956870] [Citation(s) in RCA: 41] [Impact Index Per Article: 10.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Shu J, Chirarattananon P. A Quadrotor With an Origami-Inspired Protective Mechanism. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2929978] [Citation(s) in RCA: 17] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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Abstract
Single-actuator mobile robots offer the benefits of low energy consumption, low weight and size, and low cost, but their motion is typically only one-dimensional. By using auxiliary binary mechanisms that redirect and channel the driving force of their only actuator in different ways, it is possible for these robots to perform higher-dimensional motions, such as walking straight, steering, or jumping, with only one motor. This paper presents the MASAR, a new Modular And Single-Actuator Robot that carries a single motor and several adhesion pads. By alternately releasing or attaching these adhesion pads to the environment, the proposed robot is able to pivot about different axes using only one motor, with the possibility of performing concave plane transitions or combining with other identical modules to build more complex reconfigurable robots. In this paper, we solve the planar trajectory tracking problem of this robot for polygonal paths made up of sequences of segments, which may include narrow corridors that are difficult to traverse. We propose a locomotion based on performing rotations of 180 ∘ , which we demonstrate to be the minimum-time solution for long trajectories, and a near-optimal solution for shorter ones.
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Liu C, Orlofsky A, Kitcher CD, Felton SM. A Self-Folding Pneumatic Piston for Mechanically Robust Origami Robots. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2895881] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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Liu C, Felton SM. Transformation Dynamics in Origami. PHYSICAL REVIEW LETTERS 2018; 121:254101. [PMID: 30608815 DOI: 10.1103/physrevlett.121.254101] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/27/2018] [Revised: 11/12/2018] [Indexed: 06/09/2023]
Abstract
A single origami crease pattern can be folded into many different structures from the flat-unfolded state, effectively transforming in shape and function. This makes origami engineering a promising approach to transforming machines, but predicting and controlling this transformation is difficult because the fundamental dynamics of origami systems at the flat-unfolded state are not well understood. Working with Miura-inspired mechanisms, we identify and validate a model to predict configuration switching in mechanical origami systems. The model incorporates a hidden degree of freedom introduced by material compliance in the Miura mechanism. We characterize this pseudojoint statically and dynamically to identify its lumped stiffness and inertia and use it to create a new dynamic model. This model can be used to predict which configuration an origami mechanism will settle in by balancing the kinetic and potential energy of the system. We apply this model to design a branching origami structure with 17 distinct configurations controlled by a single actuator and demonstrate reliable switching between these configurations with tailored dynamic inputs. Given the fact that origami can replicate almost any shape, we expect that this framework will be applicable to transformation in arbitrary structures and mechanisms.
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Affiliation(s)
- Chang Liu
- Northeastern University, Boston, Massachusetts 02115, USA
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