Kirigami robot: Making paper robot using desktop cutting plotter and inkjet printer

Shigemune, Hiroki; Maeda, Shingo; Hara, Yusuke; Koike, Uori; Hashimoto, Shuji

doi:10.1109/iros.2015.7353506

Cited by 26 publications

(13 citation statements)

References 22 publications

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“…Its low cost and availability is ideal for rapid prototyping, it can be easily shaped and trimmed with scissors or cutters, and it can be used for complex self-standing 3D structures, fluidics, and electrochemical applications. [3][4][5][6][7] Printing on paper relies on a technological tradition dating back from almost two thousand years and originating from China; it became a mass-producing technology in Europe from the fifteenth century. 7 The direct printing of electronic components with various degrees of complexity on paper has taken inspiration from this tradition, and it is based on techniques such as flexography, offset, and screen printing.…”

Section: 2mentioning

confidence: 99%

“…7 The printing of passive circuital elements on plain paper, such as resistors and capacitors, is less demanding; however, chip-on-flex and soft robotics technologies require the production of large batches of components to be subsequently assembled in 2D or 3D configurations, with different electrical and geometrical characteristics. 1,6,10 Among different approaches, ink-jet printing is considered a technique of choice for the printing of simple electronic circuits on paper with the use of conductive inks and for the fabrication of passive and active elements. 11 The use of ink-jet printing is limited by the availability of conducting inks with suitable properties (surface tension, viscosity) able to match the roughness, porosity, and wettability of the paper substrates; moreover, the post-printing ink drying process is difficult to control, and it can lead to unwanted variations of the electrical properties of the components.…”

Section: 2mentioning

confidence: 99%

“…[1][2][3] Recently, the interest for the use of paper as a substrate for foldable electronic components such as antennas and actuators has substantially increased in view of the realization of the so-called origami electronics, 4,5 self-foldable kirigami soft robots, 6 and power portable emergency locator transmitters based on origami microbial fuel cells. 3 These applications rely on the so-called "chip-on-flex technologies" where electronic components have typical dimension of tens or hundreds of microns so miniaturization is not a critical issue.…”

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confidence: 99%

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High-throughput shadow mask printing of passive electrical components on paper by supersonic cluster beam deposition

Caruso

Bellacicca

Milani

2016

Applied Physics Letters

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We report the rapid prototyping of passive electrical components (resistors and capacitors) on plain paper by an additive and parallel technology consisting of supersonic cluster beam deposition (SCBD) coupled with shadow mask printing. Cluster-assembled films have a growth mechanism substantially different from that of atom-assembled ones providing the possibility of a fine tuning of their electrical conduction properties around the percolative conduction threshold. Exploiting the precise control on cluster beam intensity and shape typical of SCBD, we produced, in a one-step process, batches of resistors with resistance values spanning a range of two orders of magnitude. Parallel plate capacitors with paper as the dielectric medium were also produced with capacitance in the range of tens of picofarads. Compared to standard deposition technologies, SCBD allows for a very efficient use of raw materials and the rapid production of components with different shape and dimensions while controlling independently the electrical characteristics. Discrete electrical components produced by SCBD are very robust against deformation and bending, and they can be easily assembled to build circuits with desired characteristics. The availability of large batches of these components enables the rapid and cheap prototyping and integration of electrical components on paper as building blocks of more complex systems.

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Section: 2mentioning

confidence: 99%

Section: 2mentioning

confidence: 99%

mentioning

confidence: 99%

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High-throughput shadow mask printing of passive electrical components on paper by supersonic cluster beam deposition

Caruso

Bellacicca

Milani

2016

Applied Physics Letters

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“…Several nascent subfields in robotics have arisen to address the need for low-cost manufacturing and mass customization. Examples include "printed" robots, pop-up fabrication techniques, and origamilike folding for the design of transformable devices (1)(2)(3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14)(15)(16)(17). In these areas, folding is the primary mechanism for construction and articulation (e.g., through compliant flexures) (17)(18)(19)(20)(21)(22)(23)(24)(25)(26)(27)(28).…”

Section: Introductionmentioning

confidence: 99%

Addressable wireless actuation for multijoint folding robots and devices

2017

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"Printing" robots and other complex devices through a process of origami-like folding is an emerging and promising manufacturing method due to the inherent simplicity and low cost of folding-based assembly. Folding is used in this class of device to create both complex static structures and flexure-based compliant mechanisms. Dependency on batteries to power these folds with no external wires is a hurdle to giving small-scale folding robots and devices functionality. We demonstrate a battery-free wireless folding method for dynamic multijoint structures, achieving addressable folding motions-both individual and collective folding-using only basic passive electronic components on the device. The method is based on electromagnetic power transmission and resonance selectivity for actuation of resistive shape memory alloy actuators without the need for physical connection or line of sight. We demonstrate the utility of this approach using two folded devices at different sizes using different circuit approaches.

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“…(3) It has been applied on mechanism design [43,44], smallscale fabrication such as the millimeter scale Delta robot that operates at high speeds and with high precision [45] ( Fig. 1.3(g)), and printable fabrication [46,8] (Fig. 1.3(h)).…”

Section: Robotics Applicationmentioning

confidence: 99%

Origami transformation in machines at multiple scales

Liu¹

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Origami-inspired mechanisms possess a diverse range of strengths, including tunable mechanical properties, transforming geometries, and their ease of manufacturing. Many of these qualities have been formalized into mathematical and physics-based models, and have been applied in space deployment, microscale manufacturing, computational fabrication, and other areas of interest. This makes origami engineering a promising approach for mechanism transformation; however, building machines using these principles and controlling their performance is difficult due to inherent limitations in their mechanical design. This thesis presents models and physical experiments to demonstrate the following improvements to origami engineering: (1) speeding up transformations to less than one second; (2) solving actuation difficulties, increasing transformation efficiency, and achieving reliable and predictable origami transformations; and (3) increasing self-folding origami machines' sizes to meter-scale while retaining their load-bearing capabilities. In total, these advances can be used to improve the robustness and functionality of origami machines. Given that origami can replicate almost any shape, we expect that this framework will be applicable for the transformation of arbitrary structures and mechanisms.

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Kirigami robot: Making paper robot using desktop cutting plotter and inkjet printer

Cited by 26 publications

References 22 publications

High-throughput shadow mask printing of passive electrical components on paper by supersonic cluster beam deposition

High-throughput shadow mask printing of passive electrical components on paper by supersonic cluster beam deposition

Addressable wireless actuation for multijoint folding robots and devices

Origami transformation in machines at multiple scales

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