The top–down approach in designing and fabricating origami robots could achieve far more complicated functions with compliant and elegant designs than traditional robots. This study presents the design, fabrication, and testing of a reticular origami soft robotic gripper that could adapt to the shape of the grasping subject and grasp the subject within 80 ms from the trigger instance. A sensing mechanism consisting of the resistive pressure sensor array and flexible elongation sensor is designed to validate further the shape-adaptive grasping capability and model the rough shape and size of the subject. The grasping test on various objects with different shapes, surface textures, sizes, and living animals further validates the excellent grasping capabilities of the gripper. The gripper could be either actively triggered by actuation or passively triggered by a minimum of 0.0014 J disturbance energy. Such features make it particularly suitable for applications such as capturing underwater creatures and illegal drone control.
Get full access to this article
View all access options for this article.
References
1.
VolkovAG, AdesinaT, MarkinVS, JovanovE. Kinetics and mechanism of dionaea muscipula trap closing. Plant Physiol, 2007; 146(2):323–324; doi: 10.1104/pp.107.108241.
FellowesM, BarnettJ, Ackland-SnowN.30-Second Zoology: The 50 Most Fundamental Categories and Concepts from the Study of Animal Life. Ivy Press: London; 2020.
4.
YangJ, RenC, YangC, et al.Design of a flexible capture mechanism inspired by sea anemone for non-cooperative targets. Chinese J Mech Eng, 2021; 34(1):77; doi: 10.1186/s10033-021-00594-z.
5.
WangX, KharaA, ChenC. A soft pneumatic bistable reinforced actuator bioinspired by Venus Flytrap with enhanced grasping capability. Bioinspir Biomim, 2020; 15(5):056017; doi: 10.1088/1748-3190/aba091.
RappHH.A ping-pong ball catching and juggling robot: A real-time framework for vision guided acting of an industrial robot arm. The 5th International Conference on Automation, Robotics and Applications;, 2011; doi: 10.1109/icara.2011.6144922.
8.
MoraC, TittensorDP, AdlS, et al.How many species are there on Earth and in the ocean?. PLoS Biol, 2011; 9(8):e1001127; doi: 10.1371/journal.pbio.1001127.
9.
WilsonSM, RabyGD, BurnettNJ, et al.Looking beyond the mortality of bycatch: Sublethal effects of incidental capture on Marine Animals. Biol Conservat, 2014; 171:61–72; doi: 10.1016/j.biocon.2014.01.020.
DeimelR, BrockO. A novel type of compliant and underactuated robotic hand for dexterous grasping. Int J Robot Res, 2015; 35(1–3):161–185; doi: 10.1177/0278364915592961.
12.
TawkC, GillettA, in het PanhuisM, SpinksGM, AliciG. A 3D-printed omni-purpose soft gripper. IEEE Trans Robot, 2019; 35(5):1268–1275; doi: 10.1109/tro.2019.2924386.
13.
WangZ, OrK, HiraiS. A dual-mode soft gripper for food packaging. Robot Auton Syst, 2020; 125:103427; doi: 10.1016/j.robot.2020.103427.
14.
YangM, CooperLP, LiuN, et al.Twining plant inspired pneumatic soft robotic spiral gripper with a fiber optic twisting sensor. Opt Expr, 2020; 28(23):35158; doi: 10.1364/oe.408910.
15.
LeeK, WangY, ZhengC. Twister hand: Underactuated Robotic Gripper inspired by Origami Twisted Tower. IEEE Trans Robot, 2020; 36(2):488–500; doi: 10.1109/tro.2019.2956870.
16.
GorissenB, ReynaertsD, KonishiS, et al.Elastic inflatable actuators for soft robotic applications. Adv Mater, 2017; 29(43):1604977; doi: 10.1002/adma.201604977.
17.
SinatraNR, TeepleCB, VogtDM, et al.Ultragentle manipulation of delicate structures using a soft robotic gripper. Sci Robot, 2019; 21:4(33); doi: 10.1126/scirobotics.aax5425.
18.
NavasE, FernandezR, SepulvedaD, et al.Soft gripper for robotic harvesting in precision agriculture applications. 2021 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC);, 2021; doi: 10.1109/icarsc52212.2021.9429797.
19.
MarcheseAD, OnalCD, RusD. Autonomous soft robotic fish capable of escape maneuvers using Fluidic Elastomer actuators. Soft Robot, 2014; 1(1):75–87; doi: 10.1089/soro.2013.0009.
20.
KatzschmannRK, DelPretoJ, MacCurdyR, RusD. Exploration of underwater life with an acoustically controlled soft robotic fish. Sci Robot, 2018; 3(16):eaar3449; doi: 10.1126/scirobotics.aar3449.
21.
KimY, ChaY. Soft pneumatic gripper with a tendon-driven soft origami pump. Front Bioeng Biotechnol, 2020; 8:461; doi: 10.3389/fbioe.2020.00461.
22.
CrooksW, VukasinG, O'SullivanM, et al.Fin Ray® effect inspired soft robotic gripper: From the RoboSoft Grand Challenge toward optimization. Front Robot AI, 2016; 3:70; doi: 10.3389/frobt.2016.00070.
23.
LiuC-H, HuangG-F, ChiuC-H, PaiT-Y. Topology synthesis and optimal design of an adaptive compliant gripper to maximize output displacement. J Intell Robot Syst, 2017; 90(3–4):287–304; doi: 10.1007/s10846-017-0671-x.
24.
LiS, StampfliJJ, XuHJ, et al.A vacuum-driven origami “magic-ball” soft gripper. 2019 International Conference on Robotics and Automation (ICRA);, 2019; doi: 10.1109/icra.2019.8794068.
25.
LiuC, WohleverSJ, OuMB, et al.Shake and take: Fast transformation of an origami gripper. IEEE Trans Robot, 2022; 38(1):491–506; doi: 10.1109/tro.2021.3076563.
BrownE, RodenbergN, AmendJ, et al.Universal robotic gripper based on the jamming of granular material. Proc Natl Acad Sci USA, 2010; 107(44):18809–18814; doi: 10.1073/pnas.1003250107.
28.
ZhakypovZ, HeremansF, BillardA, PaikJ. An origami-inspired reconfigurable suction gripper for picking objects with variable shape and size. IEEE Robot Autom Lett, 2018; 3(4):2894–2901; doi: 10.1109/lra.2018.2847403.
29.
BoyrazP, RungeG, RaatzA. An overview of novel actuators for Soft Robotics. Actuators, 2018; 7(3):48; doi: 10.3390/act7030048.
30.
GlickP, SureshSA, RuffattoD, et al.A soft robotic gripper with Gecko-inspired adhesive. IEEE Robot Autom Lett, 2018; 3(2):903–910; doi: 10.1109/lra.2018.2792688.
31.
VogtDM, ParkY-L, WoodRJ. Design and characterization of a soft multi-axis force sensor using embedded microfluidic channels. IEEE Sens J, 2013; 13(10):4056–4064; doi: 10.1109/jsen.2013.2272320.
32.
AtalayA, SanchezV, AtalayO, et al.Batch fabrication of customizable silicone-textile composite capacitive strain sensors for human motion tracking. Adv Mater Technol, 2017; 2(9):1700136; doi: 10.1002/admt.201700136.
33.
JungK, KimKJ, ChoiHR. A self-sensing dielectric elastomer actuator. Sens Actuat A Phys, 2008; 143(2):343–351; doi: 10.1016/j.sna.2007.10.076.
34.
XuF, LiX, ShiY, et al.Recent developments for flexible pressure sensors: A review. Micromachines, 2018; 9(11):580; doi: 10.3390/mi9110580.
35.
TangZ, JiaS, WangF, et al.Highly stretchable core–sheath fibers via wet-spinning for wearable strain sensors. ACS Appl Mater Interf, 2018; 10(7):6624–6635; doi: 10.1021/acsami.7b18677.
36.
RusD, TolleyMT. Design, fabrication and control of Origami Robots. Nat Rev Mater, 2018; 3(6):101–112; doi: 10.1038/s41578-018-0009-8.
Supplementary Material
Please find the following supplemental material available below.
For Open Access articles published under a Creative Commons License, all supplemental material carries the same license as the article it is associated with.
For non-Open Access articles published, all supplemental material carries a non-exclusive license, and permission requests for re-use of supplemental material or any part of supplemental material shall be sent directly to the copyright owner as specified in the copyright notice associated with the article.
