Origami Robot: A Self-Folding Paper Robot With an Electrothermal Actuator Created by Printing

Shigemune, Hiroki; Maeda, Shingo; Hara, Yusuke; Hosoya, Naoki; Hashimoto, Shuji

doi:10.1109/tmech.2016.2593912

Cited by 106 publications

(51 citation statements)

References 26 publications

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“…The curvature radius R was determined with mechanical properties of paper depending on the imbibition of water into the paper over time as described in Figure 2D. Along with the assumptions that the paper actuators was folding/unfolding within elastic domain and swelling in thickness‐wise direction, we calculated the changing rate of the theoretical curvature with modification of Timoshenko's bimetallic strip [ 18,21,25 ] as follows:

\frac{1}{R} = \frac{1}{R_{i}} + \frac{6 α}{\frac{5.5 ε h_{2} {(m n^{2} + 1)}^{2}}{m n (n + 1)} + 2.13 (n + 1)}

where, R i indicates a length of initial curvature, α characterizes a degree of swelling calculated with the weight of the paper actuator, and ε is a hygroexpansive strain with a thickness of wet paper that can be scaled as h 2 ≈ t 3/4 . m and n represent dimensionless factors including the ratio of modulus of elasticity and the thicknesses of paper actuator depending on dry and wet conditions, respectively.…”

Section: Resultsmentioning

confidence: 99%

Paper Robotics: Self‐Folding, Gripping, and Locomotion

Ryu

Mohammadifar

Tahernia

et al. 2020

Adv Materials Technologies

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a century, sensational engineering efforts have been performed to develop new synthetic materials, and intensive studies of forces needed to deform those soft materials have examined the use of pneumatic, thermal, electrical, and chemical energy. [11][12][13] The second research stream designs low-profile, sheet-like robots, named "robotic origamis" (or "robogamis") that offer softness and reconfigurability with multiple bending degrees of freedom. [8][9][10] In robogamis, the rigid sheets are connected through soft joints, where 2D patterns can be folded into 3D structures by low profile actuations such as electrostatic forces, shape memory alloys, and pneumatic pressures. [2] Such robogamis can autonomously transform themselves into programmed shapes and perform complex tasks in unpredictable environments. Substantial progress in soft material research has produced achievements that are critical in terms of robogami techniques [2] while soft robotics and origami folding concepts have opened new applications. [9] However, soft robotics and robogamis have historically developed separately, and studies on robogamis with soft matter were unavailable or quite limited even though their integration is expected to generate substantial achievements in terms of cost, fabrication, operation, and performance. Built-in folds made of soft materials have the considerable potential to yield continuum, compliant, and configurable properties for robots.In this work, we introduce a new approach to combine these two robotic techniques by using soft paper substrates and a waterresponsive origami technique. The capillary action of sprayed water molecules is constrained by hydrophilic channels on paper, whose number and size are carefully defined by double-sided printing and the asymmetrical penetration of wax. In particular, a bilayered single sheet of paper that uses wax and water can lead to programmed deformations from different swelling and shrinking properties of the layers. A wax-water pattern on paper develops a folding actuation with a specific degree and shape and unfolding with evaporation without being mechanically manipulated by external forces or moments. The 2D sheet of paper can be controllably self-folded into various 3D structures, demonstrating self-folding actuation, low-weight object manipulation, and biomimetic locomotion through bending and relaxation. Although a couple of paper-based robotic concepts were partly proposed before, [14,15] no technique has yet emerged as a simple print-and-fold actuator powered by environmental humidity or water for comprehensive robotic functions including self-folding, Soft robotics driven by origami can fundamentally advance robotic functionalities by significantly improving continuum, compliance, and configurability. Here, a new field is proposed, "paper robotics," which is based on moistureresponsive self-folding of paper substrates into functional 3D machines using origami-inspired techniques. By properly designing a hydrophobic wax layer and a hygro-expandable hydrophilic ...

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\frac{1}{R} = \frac{1}{R_{i}} + \frac{6 α}{\frac{5.5 ε h_{2} {(m n^{2} + 1)}^{2}}{m n (n + 1)} + 2.13 (n + 1)}

Section: Resultsmentioning

confidence: 99%

Paper Robotics: Self‐Folding, Gripping, and Locomotion

Ryu

Mohammadifar

Tahernia

et al. 2020

Adv Materials Technologies

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“…Moving beyond ink and Rangoli, there are several examples of using autonomous machines to create structures using materials. Shigemune et al [22], for example, created self-folding printed origami. Turning to 3D printing, there are projects to both extend existing objects [30] or print entirely unrestricted in location and size using drones [5].…”

Section: Robots For Input and Outputmentioning

confidence: 99%

Sustainabot - Exploring the Use of Everyday Foodstuffs as Output and Input for and with Emergent Users

Robinson

Pearson

Holton

et al. 2019

Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems

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Mainstream digital interactions are spread over a plethora of devices and form-factors, from mobiles to laptops; printouts to large screens. For emergent users, however, such abundance of choice is rarely accessible or affordable. In particular, viewing mobile content on a larger screen, or printing out copies, is often not available. In this paper we present Sustainabot-a small robot printer that uses everyday materials to print shapes and patterns from mobile phones. Sustainabot was proposed and developed by and with emergent users through a series of co-creation workshops. We begin by discussing this process, then detail the open-source mobile printer prototype. We carried out two evaluations of Sustainabot, the first focused on printing with materials in situ, and the second on understandability of its output. We present these results, and discuss opportunities and challenges for similar developments. We conclude by highlighting where and how similar devices could be used in future. CCS CONCEPTS • Human-centered computing → Interaction techniques; • Computer systems organization → Robotics; Embedded systems.

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“…Many functional inks, synthetic polymers, metals, semiconductors, insulators, and nanoparticles have integrated into the paper. The combinations can make paper conductive, biocompatible, biodegradable, smooth, and protective by filling the pores, covering the fibers, and laminating the surface . Other biological materials such as enzymes, proteins, and DNAs, have also been used to functionalize the paper .…”

Section: Introductionmentioning

confidence: 99%

Merging Electric Bacteria with Paper

Gao

Choi

2018

Adv Materials Technologies

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other electronic components. [18,19] Revolutionary combinations of synthetic materials and paper allow the development of unconventional electronics, which cannot be built with traditional semiconductor technology. While the combinations are revolutionary, these materials can be blended with paper by using mature manufacturing processes, such as roll-to-roll printing, soaking, coating, screen-printing, and dipping. [8,12,[20][21][22] Many functional inks, [23] synthetic polymers, [24] metals, [25] semiconductors, [26] insulators, [27] and nanoparticles [28] have integrated into the paper. The combinations can make paper conductive, biocompatible, biodegradable, smooth, and protective by filling the pores, covering the fibers, and laminating the surface. [6,29,30] Other biological materials such as enzymes, proteins, and DNAs, have also been used to functionalize the paper. [31][32][33] Recently, electric bacteria (exoelectrogens) that are capable of harvesting electrons have been innovatively merged with paper to power on-chip paper devices (Figure 1). [34][35][36] These electric bacteria use respiration to convert biochemical energy stored in organic matter into biological energy, adenosine triphosphate (ATP), where this process involves a cascade of reactions through a system of electron-carrier biomolecules in which electrons are transferred to the terminal electron acceptor, an anode. [37] During the bacterial respiration, protons are also generated, which diffuse through a selective ion exchange membrane and reach a cathode. Those electrons and protons are reduced to water in the presence of catholyte (e.g., oxygen) at the cathode. Paper-based batteries or energy storage devices have been considered as an indispensable component in creating selfsustainable and independent papertronics. [38][39][40] Paper-based solar cells, [41] supercapacitors, [28] nanogenerators, [42] thermoelectrics, [21] and chemical fuel cells [43] have been widely studied as potential energy sources in various applications. Incorporating electric bacteria into paper can offer a simple but powerful energy source for papertronics especially in remote and resource-limited settings as the bacteria can inhabit any environment even those with extreme conditions. [44] Furthermore, the device can be compact, affordable, and easily integrated into a simple structure's design in a cost-effective and eco-friendly manner. The paper's high roughness and porosity can be advantageous for bacterial accommodation and mass transfer relative to the bacterial energy harvesting while its hydrophilicity easily absorbs bacterial media and holds it for Paper-based electronics (papertronics) are recently considered as one of the most exciting device platforms because of their flexibility, sustainability, ecofriendliness, and low cost as well as their excellent mechanical, dielectrical, and fluidic properties. Now, innovative structure engineering techniques can manipulate diameters of the cellulose fibers of paper, smoothing the roughness and controlling the t...

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Origami Robot: A Self-Folding Paper Robot With an Electrothermal Actuator Created by Printing

Cited by 106 publications

References 26 publications

Paper Robotics: Self‐Folding, Gripping, and Locomotion

Paper Robotics: Self‐Folding, Gripping, and Locomotion

Sustainabot - Exploring the Use of Everyday Foodstuffs as Output and Input for and with Emergent Users

Merging Electric Bacteria with Paper

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