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

28 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

@article{ca9a505e60a644d3b7e9bbca8191a1a9,
title = "Origami Robot: A Self-Folding Paper Robot With an Electrothermal Actuator Created by Printing",
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.",
keywords = "Flexible manufacturing systems, paper electronics, paper mechatronics, printed robotics, selffolding robots",
author = "Hiroki Shigemune and Shingo Maeda and Yusuke Hara and Naoki Hosoya and Shuji Hashimoto",
year = "2016",
month = "12",
day = "1",
doi = "10.1109/TMECH.2016.2593912",
language = "English",
volume = "21",
pages = "2746--2754",
journal = "IEEE/ASME Transactions on Mechatronics",
issn = "1083-4435",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "6",

}

TY - JOUR

T1 - Origami Robot

T2 - A Self-Folding Paper Robot With an Electrothermal Actuator Created by Printing

AU - Shigemune, Hiroki

AU - Maeda, Shingo

AU - Hara, Yusuke

AU - Hosoya, Naoki

AU - Hashimoto, Shuji

PY - 2016/12/1

Y1 - 2016/12/1

N2 - 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.

AB - 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.

KW - Flexible manufacturing systems

KW - paper electronics

KW - paper mechatronics

KW - printed robotics

KW - selffolding robots

UR - http://www.scopus.com/inward/record.url?scp=84996939184&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84996939184&partnerID=8YFLogxK

U2 - 10.1109/TMECH.2016.2593912

DO - 10.1109/TMECH.2016.2593912

M3 - Article

VL - 21

SP - 2746

EP - 2754

JO - IEEE/ASME Transactions on Mechatronics

JF - IEEE/ASME Transactions on Mechatronics

SN - 1083-4435

IS - 6

M1 - 7519030

ER -