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

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

    Research output: Contribution to journalArticle

    32 Citations (Scopus)

    Abstract

    A piece of paper has many useful characteristics; it is affordable, lightweight, thin, strong, and highly absorbent. These features allow inexpensive and flexible devices to be fabricated easily and rapidly. We have proposed a new field, "paper mechatronics," which merges printed robotics and paper electronics, and to realize electronic and mechanical systems by printing. Herein, we develop a method to print an actuator and a structure on a sheet of paper. A trilayer electrothermal actuator is printed to activate a printed robot. The paper self-folds along the printed pattern to form the three-dimensional (3-D) structure of the robot body. We also investigate important factors necessary to develop a printed robot. Experiments, including finite element analysis (FEA), confirm our bimetal modeling assumption for the printed actuator and improve the locomotive ability. The key factors in self-folding are paper thickness and humidity. Our findings can improve the reliability of printed robot designs. A self-folding A7-sized paper robot demonstrates locomotion at 10 mm per step.

    Original languageEnglish
    Article number7519030
    Pages (from-to)2746-2754
    Number of pages9
    JournalIEEE/ASME Transactions on Mechatronics
    Volume21
    Issue number6
    DOIs
    Publication statusPublished - 2016 Dec 1

    Fingerprint

    Printing
    Actuators
    Robots
    Bimetals
    Locomotives
    Mechatronics
    Atmospheric humidity
    Robotics
    Electronic equipment
    Finite element method
    Experiments

    Keywords

    • Flexible manufacturing systems
    • paper electronics
    • paper mechatronics
    • printed robotics
    • selffolding robots

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Computer Science Applications
    • Electrical and Electronic Engineering

    Cite this

    Origami Robot : A Self-Folding Paper Robot With an Electrothermal Actuator Created by Printing. / Shigemune, Hiroki; Maeda, Shingo; Hara, Yusuke; Hosoya, Naoki; Hashimoto, Shuji.

    In: IEEE/ASME Transactions on Mechatronics, Vol. 21, No. 6, 7519030, 01.12.2016, p. 2746-2754.

    Research output: Contribution to journalArticle

    Shigemune, Hiroki ; Maeda, Shingo ; Hara, Yusuke ; Hosoya, Naoki ; Hashimoto, Shuji. / Origami Robot : A Self-Folding Paper Robot With an Electrothermal Actuator Created by Printing. In: IEEE/ASME Transactions on Mechatronics. 2016 ; Vol. 21, No. 6. pp. 2746-2754.
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