Modular multi-degree-of-freedom soft origami robots with reprogrammable electrothermal actuation.

Soft robots often draw inspiration from nature to navigate different environments. Although the inching motion and crawling motion of caterpillars have been widely studied in the design of soft robots, the steering motion with local bending control remains challenging. To address this challenge, we explore modular origami units which constitute building blocks for mimicking the segmented caterpillar body. Based on this concept, we report a modular soft Kresling origami crawling robot enabled by electrothermal actuation. A compact and lightweight Kresling structure is designed, fabricated, and characterized with integrated thermal bimorph actuators consisting of liquid crystal elastomer and polyimide layers. With the modular design and reprogrammable actuation, a multiunit caterpillar-inspired soft robot composed of both active units and passive units is developed for bidirectional locomotion and steering locomotion with precise curvature control. We demonstrate the modular design of the Kresling origami robot with an active robotic module picking up cargo and assembling with another robotic module to achieve a steering function. The concept of modular soft robots can provide insight into future soft robots that can grow, repair, and enhance functionality.

Discrete symmetries control geometric mechanics in parallelogram-based origami.

Geometric compatibility constraints dictate the mechanical response of soft systems that can be utilized for the design of mechanical metamaterials such as the negative Poisson's ratio Miura-ori origami crease pattern. Here, we develop a formalism for linear compatibility that enables explicit investigation of the interplay between geometric symmetries and functionality in origami crease patterns. We apply this formalism to a particular class of periodic crease patterns with unit cells composed of four arbitrary parallelogram faces and establish that their mechanical response is characterized by an anticommuting symmetry. In particular, we show that the modes are eigenstates of this symmetry operator and that these modes are simultaneously diagonalizable with the symmetric strain operator and the antisymmetric curvature operator. This feature reveals that the anticommuting symmetry defines an equivalence class of crease pattern geometries that possess equal and opposite in-plane and out-of-plane Poisson's ratios. Finally, we show that such Poisson's ratios generically change sign as the crease pattern rigidly folds between degenerate ground states and we determine subfamilies that possess strictly negative in-plane or out-of-plane Poisson's ratios throughout all configurations.

Triclinic Metamaterials by Tristable Origami with Reprogrammable Frustration.

Geometrical-frustration-induced anisotropy and inhomogeneity are explored to achieve unique properties of metamaterials that set them apart from conventional materials. According to Neumann's principle, to achieve anisotropic responses, the material unit cell should possess less symmetry. Based on such guidelines, a triclinic metamaterial system of minimal symmetry is presented, which originates from a Trimorph origami pattern with a simple and insightful geometry: a basic unit cell with four tilted panels and four corresponding creases. The intrinsic geometry of the Trimorph origami, with its changing tilting angles, dictates a folding motion that varies the primitive vectors of the unit cell, couples the shear and normal strains of its extrinsic bulk, and leads to an unusual Poisson effect. Such an effect, associated with reversible auxeticity in the changing triclinic frame, is observed experimentally, and predicted theoretically by elegant mathematical formulae. The nonlinearities of the folding motions allow the unit cell to display three robust stable states, connected through snapping instabilities. When the tristable unit cells are tessellated, phenomena that resemble linear and point defects emerge as a result of geometric frustration. The frustration is reprogrammable into distinct stable and inhomogeneous states by arbitrarily selecting the location of a single or multiple point defects. The Trimorph origami demonstrates the possibility of creating origami metamaterials with symmetries that are hitherto nonexistent, leading to triclinic metamaterials with tunable anisotropy for potential applications such as wave propagation control and compliant microrobots.

Soft robotic origami crawler.

Biomimetic soft robotic crawlers have attracted extensive attention in various engineering fields, owing to their adaptivity to different terrains. Earthworm-like crawlers realize locomotion through in-plane contraction, while inchworm-like crawlers exhibit out-of-plane bending-based motions. Although in-plane contraction crawlers demonstrate effective motion in confined spaces, miniaturization is challenging because of limited actuation methods and complex structures. Here, we report a magnetically actuated small-scale origami crawler with in-plane contraction. The contraction mechanism is achieved through a four-unit Kresling origami assembly consisting of two Kresling dipoles with two-level symmetry. Magnetic actuation is used to provide appropriate torque distribution, enabling a small-scale and untethered robot with both crawling and steering capabilities. The crawler can overcome large resistances from severely confined spaces by its anisotropic and magnetically tunable structural stiffness. The multifunctionality of the crawler is explored by using the internal cavity of the crawler for drug storage and release. The magnetic origami crawler can potentially serve as a minimally invasive device for biomedical applications.

Optimally-Tailored Spinodal Architected Materials for Multiscale Design and Manufacturing.

Spinodal architected materials with tunable anisotropy unify optimal design and manufacturing of multiscale structures. By locally varying the spinodal class, orientation, and porosity during topology optimization, a large portion of the anisotropic material space is exploited such that material is efficiently placed along principal stress trajectories at the microscale. Additionally, the bicontinuous, nonperiodic, unstructured, and stochastic nature of spinodal architected materials promotes mechanical and biological functions not explicitly considered during optimization (e.g., insensitivity to imperfections, fluid transport conduits). Furthermore, in contrast to laminated composites or periodic, structured architected materials (e.g., lattices), the functional representation of spinodal architected materials leads to multiscale, optimized designs with clear physical interpretation that can be manufactured directly, without special treatment at spinodal transitions. Physical models of the optimized, spinodal-embedded parts are manufactured using a scalable, voxel-based strategy to communicate with a masked stereolithography (m-SLA) 3D printer.

Stretchable origami robotic arm with omnidirectional bending and twisting.

Inspired by the embodied intelligence observed in octopus arms, we introduce magnetically controlled origami robotic arms based on Kresling patterns for multimodal deformations, including stretching, folding, omnidirectional bending, and twisting. The highly integrated motion of the robotic arms is attributed to inherent features of the reconfigurable Kresling unit, whose controllable bistable deploying/folding and omnidirectional bending are achieved through precise magnetic actuation. We investigate single- and multiple-unit robotic systems, the latter exhibiting higher biomimetic resemblance to octopus' arms. We start from the single Kresling unit to delineate the working mechanism of the magnetic actuation for deploying/folding and bending. The two-unit Kresling assembly demonstrates the basic integrated motion that combines omnidirectional bending with deploying. The four-unit Kresling assembly constitutes a robotic arm with a larger omnidirectional bending angle and stretchability. With the foundation of the basic integrated motion, scalability of Kresling assemblies is demonstrated through distributed magnetic actuation of double-digit number of units, which enables robotic arms with sophisticated motions, such as continuous stretching and contracting, reconfigurable bending, and multiaxis twisting. Such complex motions allow for functions mimicking octopus arms that grasp and manipulate objects. The Kresling robotic arm 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 developed in conjunction with endoscopy, intubation, and catheterization procedures using functionalities of object manipulation and motion under remote control.

Untethered control of functional origami microrobots with distributed actuation.

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. Current actuation strategies rely on either slow or tethered or bulky actuators (or a combination). To broaden applications of origami designs, we introduce an origami system with magnetic control. 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 controllable speed, which can be as fast as a tenth of a second with instantaneous shape locking. We show how this strategy facilitates multimodal actuation of the multicell assemblies, in which any unit cell can be independently folded and deployed, allowing for on-the-fly programmability. 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.

A unified approach for topology optimization with local stress constraints considering various failure criteria: von Mises, Drucker-Prager, Tresca, Mohr-Coulomb, Bresler- Pister and Willam-Warnke.

An interesting, yet challenging problem in topology optimization consists of finding the lightest structure that is able to withstand a given set of applied loads without experiencing local material failure. Most studies consider material failure via the von Mises criterion, which is designed for ductile materials. To extend the range of applications to structures made of a variety of different materials, we introduce a unified yield function that is able to represent several classical failure criteria including von Mises, Drucker-Prager, Tresca, Mohr-Coulomb, Bresler-Pister and Willam-Warnke, and use it to solve topology optimization problems with local stress constraints. The unified yield function not only represents the classical criteria, but also provides a smooth representation of the Tresca and the Mohr-Coulomb criteria-an attribute that is desired when using gradient-based optimization algorithms. The present framework has been built so that it can be extended to failure criteria other than the ones addressed in this investigation. We present numerical examples to illustrate how the unified yield function can be used to obtain different designs, under prescribed loading or design-dependent loading (e.g. self-weight), depending on the chosen failure criterion.

Folding at the Microscale: Enabling Multifunctional 3D Origami-Architected Metamaterials.

Mechanical metamaterials inspired by the Japanese art of paper folding have gained considerable attention because of their potential to yield deployable and highly tunable assemblies. The inherent foldability of origami structures enlarges the material design space with remarkable properties such as auxeticity and high deformation recoverability and deployability, the latter being key in applications where spatial constraints are pivotal. This work integrates the results of the design, 3D direct laser writing fabrication, and in situ scanning electron microscopic mechanical characterization of microscale origami metamaterials, based on the multimodal assembly of Miura-Ori tubes. The origami-architected metamaterials, achieved by means of microfabrication, display remarkable mechanical properties: stiffness and Poisson's ratio tunable anisotropy, large degree of shape recoverability, multistability, and even reversible auxeticity whereby the metamaterial switches Poisson's ratio sign during deformation. The findings here reported underscore the scalable and multifunctional nature of origami designs, and pave the way toward harnessing the power of origami engineering at small scales.

Invariant and smooth limit of discrete geometry folded from bistable origami leading to multistable metasurfaces.

Origami offers an avenue to program three-dimensional shapes via scale-independent and non-destructive fabrication. While such programming has focused on the geometry of a tessellation in a single transient state, here we provide a complete description of folding smooth saddle shapes from concentrically pleated squares. When the offset between square creases of the pattern is uniform, it is known as the pleated hyperbolic paraboloid (hypar) origami. Despite its popularity, much remains unknown about the mechanism that produces such aesthetic shapes. We show that the mathematical limit of the elegant shape folded from concentrically pleated squares, with either uniform or non-uniform (e.g. functionally graded, random) offsets, is invariantly a hyperbolic paraboloid. Using our theoretical model, which connects geometry to mechanics, we prove that a folded hypar origami exhibits bistability between two symmetric configurations. Further, we tessellate the hypar origami and harness its bistability to encode multi-stable metasurfaces with programmable non-Euclidean geometries.

Geometric Mechanics of Origami Patterns Exhibiting Poisson's Ratio Switch by Breaking Mountain and Valley Assignment.

Exploring the configurational space of specific origami patterns [e.g., Miura-ori (flat surface with parallelogram crease patterns), eggbox] has led to notable advances in science and technology. To augment the origami design space, we present a pattern, named "Morph," which combines the features of its parent patterns. We introduce a four-vertex origami cell that morphs continuously between a Miura mode and an eggbox mode, forming an homotopy class of configurations. This is achieved by changing the mountain and valley assignment of one of the creases, leading to a smooth switch through a wide range of negative and positive Poisson's ratios. We present elegant analytical expressions of Poisson's ratios for both in-plane stretching and out-of-plane bending and find that they are equal in magnitude and opposite in sign. Further, we show that by combining compatible unit cells in each of the aforementioned modes through kinematic bifurcation, we can create hybrid origami patterns that display unique properties, such as topological mode locking and tunable switching of Poisson's ratio.

Continuous-range tunable multilayer frequency-selective surfaces using origami and inkjet printing.

The tremendous increase in the number of components in typical electrical and communication modules requires low-cost, flexible and multifunctional sensing, energy harvesting, and communication modules that can readily reconfigure, depending on changes in their environment. Current subtractive manufacturing-based reconfigurable systems offer limited flexibility (limited finite number of discrete reconfiguration states) and have high fabrication cost and time requirements. Thus, this paper introduces an approach to solve the problem by combining additive manufacturing and origami principles to realize tunable electrical components that can be reconfigured over continuous-state ranges from folded (compact) to unfolded (large surface) configurations. Special "bridge-like" structures are introduced along the traces that increase their flexibility, thereby avoiding breakage during folding. These techniques allow creating truly flexible conductive traces that can maintain high conductivity even for large bending angles, further enhancing the states of reconfigurability. To demonstrate the idea, a Miura-Ori pattern is used to fabricate spatial filters-frequency-selective surfaces (FSSs) with dipole resonant elements placed along the fold lines. The electrical length of the dipole elements in these structures changes when the Miura-Ori is folded, which facilitates tunable frequency response for the proposed shape-reconfigurable FSS structure. Higher-order spatial filters are realized by creating multilayer Miura-FSS configurations, which further increase the overall bandwidth of the structure. Such multilayer Miura-FSS structures feature the unprecedented capability of on-the-fly reconfigurability to different specifications (multiple bands, broadband/narrowband bandwidth, wide angle of incidence rejection), requiring neither specialized substrates nor highly complex electronics, holding frames, or fabrication processes.

3D printing of complex origami assemblages for reconfigurable structures.

Origami engineering principles have recently been applied to a wide range of applications, including soft robots, stretchable electronics, and mechanical metamaterials. In order to achieve the 3D nature of engineered structures (e.g. load-bearing capacity) and capture the desired kinematics (e.g., foldability), many origami-inspired engineering designs are assembled from smaller parts and often require binding agents or additional elements for connection. Attempts at direct fabrication of 3D origami structures have been limited by available fabrication technologies and materials. Here, we propose a new method to directly 3D print origami assemblages (that mimic the behavior of their paper counterparts) with acceptable strength and load-bearing capacity for engineering applications. Our approach introduces hinge-panel elements, where the hinge regions are designed with finite thickness and length. The geometrical design of these hinge-panels, informed by both experimental and theoretical analysis, provides the desired mechanical behavior. In order to ensure foldability and repeatability, a novel photocurable elastomer system is developed and the designs are fabricated using digital light processing-based 3D printing technology. Various origami assemblages are produced to demonstrate the design flexibility and fabrication efficiency offered by our 3D printing method for origami structures with enhanced load bearing capacity and selective deformation modes.

Design of complex bone internal structure using topology optimization with perimeter control.

Large facial bone loss usually requires patient-specific bone implants to restore the structural integrity and functionality that also affects the appearance of each patient. Titanium alloys (e.g., Ti-6Al-4V) are typically used in the interfacial porous coatings between the implant and the surrounding bone to promote stability. There exists a property mismatch between the two that in general leads to complications such as stress-shielding. This biomechanical discrepancy is a hurdle in the design of bone replacements. To alleviate the mismatch, the internal structure of the bone replacements should match that of the bone. Topology optimization has proven to be a good technique for designing bone replacements. However, the complex internal structure of the bone is difficult to mimic using conventional topology optimization methods without additional restrictions. In this work, the complex bone internal structure is recovered using a perimeter control based topology optimization approach. By restricting the solution space by means of the perimeter, the intricate design complexity of bones can be achieved. Three different bone regions with well-known physiological loadings are selected to illustrate the method. Additionally, we found that the target perimeter value and the pattern of the initial distribution play a vital role in obtaining the natural curvatures in the bone internal structures as well as avoiding excessive island patterns.

Programmable Deployment of Tensegrity Structures by Stimulus-Responsive Polymers.

Tensegrity structures with detached struts are naturally suitable for deployable applications, both in terrestrial and outer-space structures, as well as morphing devices. Composed of discontinuous struts and continuous cables, such systems are only structurally stable when self-stress is induced; otherwise, they lose the original geometrical configuration (while keeping the topology) and thus can be tightly packed. We exploit this feature by using stimulus responsive polymers to introduce a paradigm for creating actively deployable 3D structures with complex shapes. The shape-change of 3D printed smart materials adds an active dimension to the configurational space of some structural components. Then we achieve dramatic global volume expansion by amplifying component-wise deformations to global configurational change via the inherent deployability of tensegrity. Through modular design, we can generate active tensegrities that are relatively stiff yet resilient with various complexities. Such unique properties enable structural systems that can achieve gigantic shape change, making them ideal as a platform for super light-weight structures, shape-changing soft robots, morphing antenna and RF devices, and biomedical devices.

Designing patient-specific 3D printed craniofacial implants using a novel topology optimization method.

Large craniofacial defects require efficient bone replacements which should not only provide good aesthetics but also possess stable structural function. The proposed work uses a novel multiresolution topology optimization method to achieve the task. Using a compliance minimization objective, patient-specific bone replacement shapes can be designed for different clinical cases that ensure revival of efficient load transfer mechanisms in the mid-face. In this work, four clinical cases are introduced and their respective patient-specific designs are obtained using the proposed method. The optimized designs are then virtually inserted into the defect to visually inspect the viability of the design . Further, once the design is verified by the reconstructive surgeon, prototypes are fabricated using a 3D printer for validation. The robustness of the designs are mechanically tested by subjecting them to a physiological loading condition which mimics the masticatory activity. The full-field strain result through 3D image correlation and the finite element analysis implies that the solution can survive the maximum mastication of 120 lb. Also, the designs have the potential to restore the buttress system and provide the structural integrity. Using the topology optimization framework in designing the bone replacement shapes would deliver surgeons new alternatives for rather complicated mid-face reconstruction.

Unraveling metamaterial properties in zigzag-base folded sheets.

Creating complex spatial objects from a flat sheet of material using origami folding techniques has attracted attention in science and engineering. In the present work, we use the geometric properties of partially folded zigzag strips to better describe the kinematics of known zigzag/herringbone-base folded sheet metamaterials such as Miura-ori. Inspired by the kinematics of a one-degree of freedom zigzag strip, we introduce a class of cellular folded mechanical metamaterials comprising different scales of zigzag strips. This class of patterns combines origami folding techniques with kirigami. Using analytical and numerical models, we study the key mechanical properties of the folded materials. We show that our class of patterns, by expanding on the design space of Miura-ori, is appropriate for a wide range of applications from mechanical metamaterials to deployable structures at small and large scales. We further show that, depending on the geometry, these materials exhibit either negative or positive in-plane Poisson's ratios. By introducing a class of zigzag-base materials in the current study, we unify the concept of in-plane Poisson's ratio for similar materials in the literature and extend it to the class of zigzag-base folded sheet materials.

Origami tubes assembled into stiff, yet reconfigurable structures and metamaterials.

Thin sheets have long been known to experience an increase in stiffness when they are bent, buckled, or assembled into smaller interlocking structures. We introduce a unique orientation for coupling rigidly foldable origami tubes in a "zipper" fashion that substantially increases the system stiffness and permits only one flexible deformation mode through which the structure can deploy. The flexible deployment of the tubular structures is permitted by localized bending of the origami along prescribed fold lines. All other deformation modes, such as global bending and twisting of the structural system, are substantially stiffer because the tubular assemblages are overconstrained and the thin sheets become engaged in tension and compression. The zipper-coupled tubes yield an unusually large eigenvalue bandgap that represents the unique difference in stiffness between deformation modes. Furthermore, we couple compatible origami tubes into a variety of cellular assemblages that can enhance mechanical characteristics and geometric versatility, leading to a potential design paradigm for structures and metamaterials that can be deployed, stiffened, and tuned. The enhanced mechanical properties, versatility, and adaptivity of these thin sheet systems can provide practical solutions of varying geometric scales in science and engineering.

Maximizing phononic band gaps in piezocomposite materials by means of topology optimization.

Phononic crystals (PCs) can exhibit phononic band gaps within which sound and vibrations at certain frequencies do not propagate. In fact, PCs with large band gaps are of great interest for many applications, such as transducers, elastic/acoustic filters, noise control, and vibration shields. Previous work in the field concentrated on PCs made of elastic isotropic materials; however, band gaps can be enlarged by using non-isotropic materials, such as piezoelectric materials. Because the main property of PCs is the presence of band gaps, one possible way to design microstructures that have a desired band gap is through topology optimization. Thus in this work, the main objective is to maximize the width of absolute elastic wave band gaps in piezocomposite materials designed by means of topology optimization. For band gap calculation, the finite element analysis is implemented with Bloch-Floquet theory to solve the dynamic behavior of two-dimensional piezocomposite unit cells. Higher order frequency branches are investigated. The results demonstrate that tunable phononic band gaps in piezocomposite materials can be designed by means of the present methodology.

Topological optimization for designing patient-specific large craniofacial segmental bone replacements.

Restoring normal function and appearance after massive facial injuries with bone loss is an important unsolved problem in surgery. An important limitation of the current methods is heuristic ad hoc design of bone replacements by the operating surgeon at the time of surgery. This problem might be addressed by incorporating a computational method known as topological optimization into routine surgical planning. We tested the feasibility of using a multiresolution three-dimensional topological optimization to design replacements for massive midface injuries with bone loss. The final solution to meet functional requirements may be shaped differently than the natural human bone but be optimized for functional needs sufficient to support full restoration using a combination of soft tissue repair and synthetic prosthetics. Topological optimization for designing facial bone tissue replacements might improve current clinical methods and provide essential enabling technology to translate generic bone tissue engineering methods into specific solutions for individual patients.