An Origami-Inspired Approach to Worm Robots

Önal, Çağdaş D.; Wood, Robert J.; Rus, Daniela

doi:10.1109/tmech.2012.2210239

Cited by 312 publications

(184 citation statements)

References 17 publications

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“…NiTi coils can achieve displacements that are orders of magnitude greater (>100%) than those of a typical axiallyaligned SMA wire [25], [35]. The combination of high forces, large displacements, simple activation mechanism, low mass, compact form factor and fiber-like aspect ratio make NiTi Fig.…”

Section: Theory and Modeling Of Niti Coil Actuatorsmentioning

confidence: 99%

Low Spring Index NiTi Coil Actuators for Use in Active Compression Garments

Holschuh

Obropta

Newman

2015

IEEE/ASME Trans. Mechatron.

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Abstract-This paper describes the modeling, development, and testing of low spring index nickel titanium (NiTi) coil actuators designed for use in wearable compression garments, and presents a prototype tourniquet system using these actuators. NiTi coil actuators produce both large forces (>1 N) and large recoverable displacements (>100% length) that are well suited for compression garment design. Thermomechanical coil models are presented that describe temperature and force as a function of non-dimensionalized coil geometry, extensional strain, and applied voltage. These models suggest that low spring index coils maximize activation force, and an analytical model is presented to predict garment counter-pressure based on actuator architecture. Several low spring index (C = 3.08) coils were manufactured, annealed, and tested to assess their de-twinning and activation characteristics. Results suggest both annealing and applied stress affect activation thresholds. Actuator force increases both with extensional strain and applied voltage up to 7.24 N. A first-generation compression tourniquet system using integrated actuators with direct voltage-control of applied pressure is presented, demonstrating >70% increase in applied pressure during activation. This approach enables new, dynamic garments with controllable activation and low effort donning and doffing, with applications ranging from healthcare solutions to advanced space suit design.

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Section: Theory and Modeling Of Niti Coil Actuatorsmentioning

confidence: 99%

Low Spring Index NiTi Coil Actuators for Use in Active Compression Garments

Holschuh

Obropta

Newman

2015

IEEE/ASME Trans. Mechatron.

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“…Currently, 3-D printing-depositing material directly into a desired structure-is the most common method of this type [1][2][3] . However, an origami-inspired technique has recently been demonstrated that creates three-dimensional structures by folding two-dimensional materials [4][5][6] . This has several advantages over traditional methods: Folding thin sheets into 3-D shapes often requires less material than an equivalent solid structure.…”

Section: Introductionmentioning

confidence: 99%

Self-folding with shape memory composites

et al. 2013

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Origami-inspired manufacturing can produce complex structures and machines by folding two-dimensional composites into three-dimensional structures. This fabrication technique is potentially less expensive, faster, and easier to transport than more traditional machining methods, including 3-D printing. Self-folding enhances this method by minimizing the manual labor involved in folding, allowing for complex geometries and enabling remote or automated assembly. This paper demonstrates a novel method of self-folding hinges using shape memory polymers (SMPs), paper, and resistive circuits to achieve localized and individually addressable folding at low cost. A model for the torque exerted by these composites was developed and validated against experimental data, in order to determine design rules for selecting materials and designing hinges. Torque was shown to increase with SMP thickness, resistive circuit width, and supplied electrical current. This technique was shown to be capable of complex geometries, as well as locking assemblies with sequential folds. Its functionality and low cost make it an ideal basis for a new type of printable manufacturing based on two-dimensional fabrication techniques.

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“…Complimentary theoretical work has proven that folding is in fact capable of achieving a large set of target geometries [8], [9], [10]. Recently, origami inspired folding has also enabled great strides in the fabrication of mm to cm scale robotics [11], [12], [13]. However, fold actuation remains a challenge as these robots often require many hours and/or *The authors gratefully acknowledge support from the National Science Foundation (award numbers CCF-1138967 and EFRI-1240383).…”

Section: Introductionmentioning

confidence: 99%

Self-folding shape memory laminates for automated fabrication

Tolley

Felton

Miyashita

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Nature regularly uses self-folding as an efficient approach to automated fabrication. In engineered systems, however, the use of self-folding has been primarily restricted to the assembly of small structures using exotic materials and/or complex infrastructures. In this paper we present three approaches to the self-folding of structures using low-cost, rapid-prototyped shape memory laminates. These structures require minimal deployment infrastructure, and are activated by light, heat, or electricity. We compare the fabrication of a fundamental structure (a cube) using each approach, and test ways to control fold angles in each case. Finally, for each self-folding approach we present a unique structure that the approach is particularly suited to fold, and discuss the advantages and disadvantages of each approach.

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An Origami-Inspired Approach to Worm Robots

Cited by 312 publications

References 17 publications

Low Spring Index NiTi Coil Actuators for Use in Active Compression Garments

Low Spring Index NiTi Coil Actuators for Use in Active Compression Garments

Self-folding with shape memory composites

Self-folding shape memory laminates for automated fabrication

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