Origami-Inspired Soft Twisting Actuator

Li, Diancheng; Fan, Dongliang; Zhu, Renjie; Lei, Qiaozhi; Liao, Yuxuan; Yang, Xin; Pan, Yang; Wang, Zheng; Wu, Yang; Wang, Hongqiang

doi:10.1089/soro.2021.0185

Cited by 35 publications

(17 citation statements)

References 66 publications

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“…In this section, we report alternative fabrication methods that are more direct and do not start with a flat sheet of material. Instead, the intended final structure is designed using a computer-aided design (CAD) software and then realized through a few subsequent manufacturing steps, such as molding [83][84][85], winding [86], casting [87], CNC machining [88], or additive manufacturing [48,83,[89][90][91][92][93][94][95][96][97][98][99][100][101].…”

Section: Non-sheet Fabricationmentioning

confidence: 99%

“…In molding methods, a mold resembling the Kresling column (a stack of KOSs) is first prepared using 3D printing (figure 7(a)). Next, uncured silicon resin or thermoplastic Polyurethane (TPU) is poured into the mold [83,96]. To ensure that a thin layer is formed, instead of a solid block of Kresling column, Li et al [83] employed spin casting, where the mold is spun at a rate of 10 rad s −1 , resulting in a homogeneous thin layer of silicon coating on the inner surfaces of the mold.…”

Section: Non-sheet Fabricationmentioning

confidence: 99%

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The Kresling origami spring: a review and assessment

Masana,

Dalaq,

Khazaaleh

et al. 2024

Smart Mater. Struct.

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Structures inspired by the Kresling origami pattern have recently emerged as a foundation for building functional engineeringsystems with versatile characteristics that target niche applications spanning different technological fields. Their light weight,deployability, modularity, and customizability are a few of the key characteristics that continue to drive their implementationin robotics, aerospace structures, metamaterial and sensor design, switching, actuation, energy harvesting and absorption,and wireless communications, among many other examples. This work aims to perform a systematic review of the literatureto assess the potential of the Kresling origami springs as a structural component for engineering design keeping threeobjectives in mind: i) facilitating future research by summarizing and categorizing the current literature, ii) identifying the currentshortcomings and voids, and iii) proposing directions for future research to fill those voids.

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Section: Non-sheet Fabricationmentioning

confidence: 99%

Section: Non-sheet Fabricationmentioning

confidence: 99%

The Kresling origami spring: a review and assessment

Masana,

Dalaq,

Khazaaleh

et al. 2024

Smart Mater. Struct.

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“…Soft actuators are a recently emerging technique due to their adaptivity and safety, [3,39,40] but most current soft actuators lack embedded sensors to measure their deformation resulting from the large strain during operation. [41][42][43] Previously, adhering flexible sensors to the outer surface of soft actuators was a general approach to measuring the bending behavior of soft actuators. [44,45] Still, inextensible layers in sensors and the weak interface strength between sensors and actuators limit their applications in high-strain deformation (e.g., elongating and twisting) monitoring.…”

Section: Demonstration Of the Soft Actuator With Intervention 3d Micr...mentioning

confidence: 99%

Innervation of Sensing Microchannels for Three‐Dimensional Stimuli Perception

Fan

Zhu

Yang

et al. 2023

Adv Materials Technologies

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Stimuli perception enables animals and robots to interact with unknown environments safely and predictably. For the sensing of soft robotics and wearable devices, although electronic skins have already been widely accepted and studied, their planar geometries are not applicable for multi‐direction volume sensing. Herein, the innervation of sensing microchannel networks into elastic matrices to mimic the exteroception and proprioception of the human bodies is employed. Soft actuators with interlaced actuating and sensing microchannels resembling the distribution of muscle fiber and proprioceptors are fabricated and the internal stimuli perception of deformation configurations (bending, elongating, and bending directions) and magnitudes (bending angle and elongation) of the soft actuators are demonstrated. It is also demonstrated that a soft cubic sensor containing 3D microchannels (diameter: 400 µm) is capable of identifying 3D external stimuli, including force types (pressing, squeezing, shearing, and twisting) and real‐time directions by measuring the resistance variation, and its application in the virtual reality field is exhibited.

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“…Origami-inspired actuators have gradually attracted considerable research attention because of their high contraction ratio [24,[30][31][32][33][34][35][36][37]. Li et al proposed a linear zigzagtype actuator [24], which produces a contraction ratio of 90% under a vacuum pressure of 60 kPa.…”

Section: Introductionmentioning

confidence: 99%

Origami-inspired soft-rigid hybrid contraction actuator and its application in pipe-crawling robot

Liu

et al. 2023

Smart Mater. Struct.

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A vacuum-driven inclined hexagonal prism soft-rigid hybrid contraction actuator inspired by Kresling origami pattern and with low driving pressure, high contraction ratio, and fast response was proposed. The advantages of soft-rigid hybrid vacuum contraction actuators over conventional positive-type oscillators were investigated. Under 30 kPa vacuum pressure, the actuator can realize a torsional angle of 87°, contraction ratio of 59%, contracting response time of 0.2 s, and restoring response time of 0.42 s. The design and fabrication of the proposed actuator were discussed. A mathematical model treating all creases as a combination of linear and torsion springs, which is firstly considered compared with previously proposed models of Kresling origami-based actuators, was established to predict the output performance. The excellent output force prediction performance of the proposed method was validated experimentally. To investigate the application potential of the proposed modular actuator, six actuators were assembled on a pipe-crawling robot that can crawl in horizontal, vertical, elbow rigid pipes as well as flexible pipes with inner diameters ranging from 55 to 71 mm. The robot achieved a maximum crawling velocity of 34.8 mm/s (0.226 body lengths per second) and maximum load of 1000 g (12.5 times its own weight) in tests. Thus, the excellent application potential of the proposed actuator was validated.

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Origami-Inspired Soft Twisting Actuator

Cited by 35 publications

References 66 publications

The Kresling origami spring: a review and assessment

The Kresling origami spring: a review and assessment

Innervation of Sensing Microchannels for Three‐Dimensional Stimuli Perception

Origami-inspired soft-rigid hybrid contraction actuator and its application in pipe-crawling robot

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