Origami-Patterned Rigidification for Soft Robotic Bifurcation

Liu, Dihan1; Liu, Sicong1; Yang, Wenjian1; Yi, Juan1; Wang, Hongqiang1; Zhang, Wenzeng2; Dai, Jian S.1; Wang, Zheng1

2024-06-01

10.1002/aisy.202300767

ADVANCED INTELLIGENT SYSTEMS   影响因子和分区

2640-4567

["The fluid-transportation functions based on the volume-regulating behavior of the chamber-like organs inspire the development of artificial organs. Due to the intrinsic compliance of soft robotics for biomimicking purposes and the volume-regulation capability of the 3D origami patterns, the soft robots with origami patterns show promising potential in such research. However, the folding deformation of the origami facets cannot be straightforwardly implemented as the actuation or the body movement, and the predetermined movements of the pattern limit the appropriate functions for specific applications. In this work, an origami-patterned rigidification (OPR) method is proposed for applying rigid origami mechanisms (herein, the cuboctahedron origami ball) to the chamber-like structure of soft robots. The motion of the soft robot is programmed by purposefully rigidified the soft chamber following the pattern. The resultant OPR structures are granted with functions corresponding to the predetermined motion of the pattern, and the expanded movements through the bifurcation brought by the soft-rigid characteristics. The concept, design, and fabrication of the OPR robot are presented. By analyzing the deformation of the soft creases, the kinematic models of the predetermined and expanded degrees of freedom are presented and verified by experiments. The extended functions of two OPR robots are demonstrated.","An origami-patterned rigidification (OPR) method for applying the cuboctahedron-origami-ball mechanism to the chamber-like structure of soft robots is proposed. By driving the rigid panels using external soft actuators, the resultant OPR robots are granted with functions corresponding to the predetermined motion of the pattern, and the expanded movements through the bifurcation brought by the soft-rigid characteristics.image (c) 2024 WILEY-VCH GmbH"]

origami soft robots soft-rigid bifurcations

SCI

英语

第一 ; 通讯

Shenzhen Science and Technology Program["JCYJ20220530114615034","JCYJ20220818100417038"] ; Guangdong Basic and Applied Basic Research Foundation[2021A1515110658] ; null[2022YFB4701200]

Automation & Control Systems ; Computer Science ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Robotics

WOS:001184802300001

WILEY

Web of Science

1.Southern Univ Sci & Technol, Dept Mech & Energy Engn, Shenzhen 518000, Peoples R China
2.Tsinghua Univ, Dept Mech Engn, Beijing 100084, Peoples R China

Liu, Dihan,Liu, Sicong,Yang, Wenjian,et al. Origami-Patterned Rigidification for Soft Robotic Bifurcation[J]. ADVANCED INTELLIGENT SYSTEMS,2024,6(6).

Liu, Dihan.,Liu, Sicong.,Yang, Wenjian.,Yi, Juan.,Wang, Hongqiang.,...&Wang, Zheng.(2024).Origami-Patterned Rigidification for Soft Robotic Bifurcation.ADVANCED INTELLIGENT SYSTEMS,6(6).

Liu, Dihan,et al."Origami-Patterned Rigidification for Soft Robotic Bifurcation".ADVANCED INTELLIGENT SYSTEMS 6.6(2024).