3D printed leech-inspired origami dry electrodes for electrophysiology sensing robots

Kim, Sang Woo; Bao, Cui; Chen, Ziniu; Kim, Woo Soo

doi:10.1038/s41528-022-00139-x

Cited by 28 publications

(26 citation statements)

References 50 publications

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“…In nature, many organisms move through various environments using a crawling gait, such as earthworms [ 1 ], inchworms [ 2 ], and leeches [ 3 ]. Inspired by this, a variety of crawling robots have been developed in recent years.…”

Section: Introductionmentioning

confidence: 99%

A Dielectric Elastomer Actuator-Driven Vibro-Impact Crawling Robot

Yan

Cai

et al. 2022

Micromachines

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Over the last decade, many bio-inspired crawling robots have been proposed by adopting the principle of two-anchor crawling or anisotropic friction-based vibrational crawling. However, these robots are complicated in structure and vulnerable to contamination, which seriously limits their practical application. Therefore, a novel vibro-impact crawling robot driven by a dielectric elastomer actuator (DEA) is proposed in this paper, which attempts to address the limitations of the existing crawling robots. The novelty of the proposed vibro-impact robot lies in the elimination of anchoring mechanisms or tilted bristles in conventional crawling robots, hence reducing the complexity of manufacturing and improving adaptability. A comprehensive experimental approach was adopted to characterize the performance of the robot. First, the dynamic response of the DEA-impact constraint system was characterized in experiments. Second, the performance of the robot was extensively studied and the fundamental mechanisms of the vibro-impact crawling locomotion were analyzed. In addition, effects of several key parameters on the robot's velocity were investigated. It is demonstrated that our robot can realize bidirectional motion (both forward and backward) by simple tuning of the key control parameters. The robot demonstrates a maximum forward velocity of 21.4 mm/s (equivalent to 0.71 body-length/s), a backward velocity of 16.9 mm/s, and a load carrying capacity of 9.5 g (equivalent to its own weight). The outcomes of this paper can offer guidelines for high-performance crawling robot designs, and have potential applications in industrial pipeline inspections, capsule endoscopes, and disaster rescues.

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Section: Introductionmentioning

confidence: 99%

A Dielectric Elastomer Actuator-Driven Vibro-Impact Crawling Robot

Yan

Cai

et al. 2022

Micromachines

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“…This is owing to advantages such as cost-effectiveness, design flexibility, the ability to produce complex structures and smart functional devices in a resource efficient manner (additive manufacturing). New 3D printing techniques, such as multi-material printing [4], [15], [16], enable the integration of new functionalities such as sensing and actuation as part of mechanical structures [4], [15], [16]. This is increasingly utilized in the realization of robots with seamlessly integrated advanced sensing capabilities.…”

Section: Introductionmentioning

confidence: 99%

Multidirectional strain sensor using multimaterial 3D printing

Chirila

Ozioko

Schyns

et al. 2022

2022 IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS)

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This paper presents a fully 3D printed multidirectional strain sensor for robotic applications. The allprinted sensor constitutes a piezoresistive sensing layer of flexible carbon black engineered thermoplastic polyurethane (PI-ETPU), and a structurally engineered sensor frame printed using rigid polylactic acid (PLA). The sensor is printed using multi-material 3D printing and systematically positioned in the frame to uniquely detect multidirectional mechanical loading. The stress and strain distributions on the developed sensor structure, as well as the piezoresistive coupling of the active sensing layer are investigated using COMSOL Multiphysics. The results show discrete resistive responses over the three different displacements simulated. The unique motion and the response give the individual sensors the ability to infer new pieces of data such as angle and orientation from the piezoresistive behavior of each sensor. This makes the sensors promising for a wide range of applications, from artificially intelligent robots to rehabilitation and 3D texture mapping.

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“…The deformation of Miura-ori structure under compression demonstrates predictable results instead of random deformation [52][53][54] . Origami structures have been widely used in sensing, packaging, protection, and impact energy absorption [55][56][57][58] . Especially Miura-ori structure has high strength and remarkable impact energy absorption capability (EAC) 59,60 .…”

Section: Introductionmentioning

confidence: 99%

3D designed battery-free wireless origami pressure sensor

et al. 2022

Self Cite

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A pressure monitoring structure is a very useful element for a wearable device for health monitoring and sports biomechanics. While pressure sensors have been studied extensively, battery-free functions working in wireless detection have not been studied much. Here, we report a 3D-structured origami-based architecture sensor for wireless pressure monitoring. We developed an architectured platform for wireless pressure sensing through inductor-capacitor (LC) sensors and a monopole antenna. A personalized smart insole with Miura-ori origami designs has been 3D printed together with conductive 3D printed sensors seamlessly. Wireless monitoring of resonant frequency and intensity changes of LC sensors have been demonstrated to monitor foot pressure for different postures. The sensitivity of the wireless pressure sensor is tunable from 15.7 to 2.1 MHz/kPa in the pressure ranges from 0 to 9 kPa and from 10 to 40 kPa, respectively. The proposed wireless pressure-sensing platform can be utilized for various applications such as orthotics, prosthetics, and sports gear.

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3D printed leech-inspired origami dry electrodes for electrophysiology sensing robots

Cited by 28 publications

References 50 publications

A Dielectric Elastomer Actuator-Driven Vibro-Impact Crawling Robot

A Dielectric Elastomer Actuator-Driven Vibro-Impact Crawling Robot

Multidirectional strain sensor using multimaterial 3D printing

3D designed battery-free wireless origami pressure sensor

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