Design of Deployable Soft Robots Through Plastic Deformation of Kirigami Structures

Designing Expandable-Structure Robots for Human-Robot Interaction

“…To date, most research on Origami robots has focused on physical design and actuation ( Lee et al, 2013 ; Onal et al, 2014 ; Vander Hoff et al, 2014 ; Miyashita et al, 2015 ) or on using smart materials to create self-folding robots ( Paik et al, 2010 ; Paik and Wood, 2012 ; Tolley et al, 2014 ; Firouzeh and Paik, 2015 ). Recently, researchers have also explored Kirigami structures, an extension of Orgami that supports cutting in addition to folding, for deployable robot design ( Sedal et al, 2020 ).…”

Current Development on Origami/Kirigami‐Inspired Structure of Creased Patterns toward Robotics

“…The net‐like multistable kirigami structures [ 108 ] ( Figure A,B) rarely have fold crease but the holes and regular cutting lines on a flat, soft, and flexible sheet, [ 109 ] which is well‐known for its applications in flexible and stretchable electronics, [ 110–113 ] tunable mechanical metamaterials, [ 114 ] shape morphing, [ 58,115,116 ] and biomimetic devices, [ 117–120 ] because of its good performance in film adhesion. [ 121 ] The net‐like multistable kirigami structures will be stretched and twisted when tensile load is applied, [ 48 ] where predicts the ultimate stress or strain is known to be complex due to the nonlinear effects arising from the out‐of‐plane buckling. [ 122 ] Using this property, Lamoureux et al conducted novel solar cells with good optical tracking efficiencies (Figure 5A), where the elegant cut pattern is applied in thin‐film gallium arsenide solar cells and then stretched to produce an array of tilted surface elements.…”

“…Different creases make a diversified possibility of origami structures, realizing various movements, e.g., stretching, [26] compressing, [36] bending, [39] stepping, [40] clamping, [25] jumping, [34,[41][42][43][44] flying, [45] etc. Consequently, the driving method of origami/ kirigami-inspired robots has developed well in past years, e.g., pneumatic drive, [26,28,[46][47][48] cable dragging, [33,34,49] magnetic traction, [25,35,36,[50][51][52] small-steering engine driving, [39] heat driving, [16] etc. In addition, integrated with various advanced functional materials, e.g., shape memory alloys DOI: 10.1002/adem.202100473 Origami/kirigami, the ancient art of paper folding and cutting techniques, has provided considerable inspiration for structural design routes in the engineering and medical fields over the last few decades.…”

“…Different creases make a diversified possibility of origami structures, realizing various movements, e.g., stretching, [ 26 ] compressing, [ 36 ] bending, [ 39 ] stepping, [ 40 ] clamping, [ 25 ] jumping, [ 34,41–44 ] flying, [ 45 ] etc. Consequently, the driving method of origami/kirigami‐inspired robots has developed well in past years, e.g., pneumatic drive, [ 26,28,46–48 ] cable dragging, [ 33,34,49 ] magnetic traction, [ 25,35,36,50–52 ] small‐steering engine driving, [ 39 ] heat driving, [ 16 ] etc. In addition, integrated with various advanced functional materials, e.g., shape memory alloys (SMAs), [ 31,32,42,44,53 ] shape memory polymers (SMPs), [ 3,54,55 ] liquid crystal elastomers (LCEs), [ 56 ] polydimethylsiloxane (PDMS), [ 57 ] liquid crystal polymer network (LCN), [ 58 ] piezoelectric materials, [ 45,59 ] etc., origami structures can remain lightweight and easy to control.…”

Cellular Auxetic Structures for Mechanical Metamaterials: A Review

“…The proposed structure had a tunable Poisson's ratio and could be used in antennas and precision instruments. Sedal et al used the Kirigami structures for development of deployable crawling robot [137]. Using preconceived auxetic structures to induce mechanical instabilities, Park et al developed a new 'instability-induced morphable structures' called "Active skins" [138] which could be used for rapid surface deployment.…”