Session: 16-01-01: Poster Session: NSF-Funded Research (Grad & Undergrad)

Paper Number: 99990

99990 - Untethered Control of Origami for Multimodal Locomotion and Deformation 

Deployability, multifunctionality, and tunability are features that can be explored in the design space of origami engineering solutions. These features arise from the shape-changing capabilities of origami assemblies, which require effective actuation for full functionality. Origami robots have recently been explored to design biomedical devices utilizing their shape morphing capability. However, most existing origami robots’ functionalities are hindered by limited modes due to actuation methods. Current actuation strategies rely on either slow or tethered or bulky actuators. To broaden applications of origami designs, we introduce an origami system with magnetic control. Integrating magnetic actuation and geometrical and reconfigurable features of the Kresling unit, we develop single- and multiple-unit origami robotic systems. 
We design a Kresling “sphere” with high global geometrical symmetry that allows on-ground rolling and flipping. Locally, the Kresling has tilted triangular panels analogous to propeller, to generate propulsion for in-water swimming when spinning. Magnetic torque is generated when the magnetization of the attached magnetic plate has an angle with respect to the applied magnetic field. In the presence of a continuously rotating magnetic field, the robot’s magnetization follows the magnetic field, leading to the continuous rotation for rolling, flipping, or spinning, depending on the rotational axis and the interaction with the working environment. In addition, the Kresling is a foldable shell by twist-induced contraction for integrated functionalities, such as the pumping mechanism for targeted drug delivery and contracting/stretching of robotic arms by folding/unfolding deformations. 
We couple the geometrical and mechanical properties of the bistable Kresling pattern with a magnetically responsive material to achieve untethered and local/distributed actuation with ultrafast control. The inherent features of the reconfigurable Kresling pattern allow for deploying/folding and omnidirectional bending through precise magnetic actuation. We show how this strategy facilitates multimodal deformations of origami robotic arms based on Kresling patterns, including stretching, folding, omnidirectional bending, and twisting. The magnetic origami system with noncontact actuation provides a distinctive mechanism for applications that require synergistic robotic motions for navigation, sensing, and interaction with objects in environments with limited or constrained access. Based on small-scale Kresling robotic arms, miniaturized medical devices, such as tubes and catheters, can be potentially developed in conjunction with endoscopy, intubation, and catheterization procedures using functionalities of object manipulation and motion under remote control. In addition, we demonstrate how the Kresling assembly can serve as a basis for tunable physical properties and for digital computing. The magnetic origami systems are applicable to origami-inspired robots, morphing structures and devices, metamaterials, and multifunctional devices with multiphysics responses.

Presenting Author: Shuai Wu Stanford University

Presenting Author Biography: Shuai Wu is currently a Phd student in Professor Renee Zhao's group in Mechanical Engineering at Stanford University. His research is focused on the mechanics-guided design of functional soft composite, robotics, and metamaterials.

Authors:

Shuai Wu Stanford University
Qiji Ze Stanford University
Sophie Leanza Stanford University
Renee Zhao Stanford University