Origami spring–inspired metamaterials and robots: An attempt at fully programmable robotics

Abstract

Recent advances in three-dimensional printing technologies provide one way not only to speed up freeform fabrication but also to exert programmable control over mechanical properties. Besides, origami-inspired structures, origami-inspired metamaterials, and even origami-inspired robotics primarily demonstrate the promising potential for innovative inspirations of engineering solutions. The motivation of this work is to explore a fully programmable robotic perspective with a fusion of programmable metamaterials, programmable mechanics, and programmable fabrication. First, we proposed an illustrative roadmap for transforming an origami model into a fully programmable robotic system. Then, we introduced an origami spring model and revealed its shape-shifting geometry and intrinsic metamaterial mechanisms, especially the rarely switchable behavior from transverse compression to longitudinal stretchability, and the curvilinear deployment. Furthermore, we addressed the fabrication challenges of three-dimensional printable origami sheets considering three-dimensional printability, foldability with high elasticity, and good damage tolerance. Finally, we developed a fully soft manipulator in terms of the highly reversible compressibility of origami spring metamaterials. And we also devised a peristaltic crawling robot with undulatory movements induced by inclination deployment effect of origami spring metamaterials. Conceivably, the proposed fully programmable robotic system was demonstrated starting from programmable metamaterials, programmable mechanics, and programmable fabrication to programmable robotic behaviors. The contribution of this work also suggested that robotic morphing could be tunable by hierarchical programming from modeling and fabrication to actions.

An Origami-Based Soft Robotic Actuator for Upper Gastrointestinal Endoscopic Applications

“…Various studies have taken inspiration from the Japanese art of folding paper (i.e., Origami) to create, for example, threedimensional metamaterial (Overvelde et al, 2016), artificial muscles (Li et al, 2017), spring-inspired programmable robots (Hu et al, 2020), and forceps (Edmondson et al, 2013). Origami induces inherent flexibility in rigid structures by adding multiple folds and creases.…”

Miniaturized Origami Robots: Actuation Approaches and Potential Applications

“…Based on this driving concept, a fully soft robotic arm with a three-finger gripping robot is actuated by motors to control the contraction and elongation of origami-inspired spring metamaterials with highly reversible compressibility (Figure 5b). [37] Moreover, the pick-and-place experiment suggests that the soft gripping robot is greatly applicable for irregular objects. This driving concept also introduces a peristaltic crawling robot that can imitate undulatory movements of segmented worms at a speed of about 2 cm in 5 s, one gait cycle.…”

Revealing the Dynamic Characteristics of Composite Material-Based Miura-Origami Tube

“…The goal of origami design is to design a specific crease patterns and then transform a sheet-like planar material into an exquisite three-dimensional structure by folding the material along these predefined creases [ 4 ]. Owing to the various benefits, including flexible design, simple manufacturing, and light weight, origami structures have demonstrated tremendous application potential in actual engineering for diverse fields, e.g., spacecraft solar panels [ 5 , 6 ], re-configurable structure design [ 7 , 8 ], energy-absorbing structures [ 9 , 10 , 11 ], biomedical equipment [ 12 , 13 ], foldable lithium-ion batteries [ 14 , 15 ], origami springs [ 16 , 17 ], origami robots [ 18 , 19 , 20 ], and sound barriers [ 21 , 22 , 23 ].…”