Article
Robotics
Yuzhe Wang, Pengpeng Zhang, Hui Huang, Jian Zhu
Summary: In this study, a fully transparent soft jellyfish robot is developed with both transparency and bio-inspired omni motions in water. The robot is driven by transparent dielectric elastomer actuators (DEAs) using hybrid silver nanowire networks and conductive polymer as compliant electrodes. This transparent DEA allows the robot to achieve vertical and horizontal movements in water, mimicking the pulsating rhythm of a real jellyfish.
Article
Robotics
Matthew A. Robertson, Ozdemir Can Kara, Jamie Paik
Summary: This article introduces a new modular robotic platform that utilizes origami-inspired construction methods and soft pneumatic actuators to achieve high degree-of-freedom systems. The modules are layer-fabricated with embedded distribution channels and decentralized control architecture for independent control of limb mechanisms and pneumatic relays. This design strategy allows for lightweight, high-strength robotic structures beneficial for various fields, such as wearable robotics.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2021)
Article
Automation & Control Systems
Dongting Li, Emiliano Quinones Yumbla, Alyssa Olivas, Thomas Sugar, Heni Ben Amor, Hyunglae Lee, Wenlong Zhang, Daniel M. Aukes
Summary: This article introduces a wearable exo-shell device inspired by the human spine to improve the gait of elderly people during obstacle avoidance tasks. The device is designed with origami-inspired techniques and features a chain of lockable joints with a braking system. The article describes the kinematics and forces of the device, discusses the integration of various sensors, and characterizes the performance of the device.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Multidisciplinary
Ruomeng Xu, Qingsong Xu
Summary: Inspired by centipede locomotion, a soft octopodal robot is designed and fabricated by mixing magnetic particles with silicone polymers. The robot is driven by an external magnetic field and exhibits high-speed movement on different surfaces, including biological ones, demonstrating its promising applications in the biomedical field.
Article
Mathematics
Lisbeth Mena, Jorge Munoz, Concepcion A. Monje, Carlos Balaguer
Summary: This paper presents a proposal for a modular robot with origami structure, based on self-scalable and modular link made of soft parts. The kinematics of single link and interconnected links are studied and validated. Experimental data demonstrate that the system meets scalability requirements and has reliable and robust response.
Article
Robotics
Tingting Sui, Ting Zou, Daniel Riskin
Summary: This study proposes a design of a UAV that can mimic flight behaviors of bats inspired by their agility, high efficiency, and low noise. By adjusting wing flapping and morphing, the UAV achieves sufficient lift and thrust forces for versatile maneuvers. A multi-objective optimization method is used to determine wing positions and elbow angles, minimizing the differences between biological bat trajectories and those of the robot. The proposed method provides a straightforward and robust approach for optimizing bat-inspired robots.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Yukun Ge, Thilina Dulantha Lalitharatne, Thrishantha Nanayakkara
Summary: Capsule endoscopy is an effective tool for investigating unusual symptoms. This paper proposes a novel origami-inspired structure as an attachment to the capsule endoscope, utilizing intestinal peristalsis to control its movement direction.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Engineering, Marine
Marvin Wright, Qing Xiao, Saishuai Dai, Mark Post, Hong Yue, Bodhi Sarkar
Summary: This paper describes the design and construction of a magnetically coupled modular bio-inspired underwater robot called the Modular Magnetic Bio-Inspired Underwater Vehicle (MMBAUV). It uses a traveling wave to mimic efficient Body Caudal Fin (BCF) swimming and manoeuvring, while its modularity allows for flexible system setup and cost reduction. The novel feature of this design is the use of a permanent synchronous magnetic coupling between neighbouring modules with a rotational degree of freedom (DoF). Lab testing results demonstrate the design's functionality, thrust generation, and manoeuvrability.
Article
Robotics
Tao Jin, Long Li, Tianhong Wang, Guopeng Wang, Jianguo Cai, Yingzhong Tian, Quan Zhang
Summary: Origami-inspired soft pneumatic actuator with vacuum control is developed in this study for compound motion of twist and contraction, achieving 180 times self-weight lifting capacity and 47% contraction ratio. The actuator can be adjusted to have bistable property and sensitivity, making it suitable for various applications including reconfigurable crawling robots capable of different movements and obstacle detection.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Nanoscience & Nanotechnology
Yanhua Sun, Dengfeng Li, Mengge Wu, Yale Yang, Jingyou Su, Tszhung Wong, Kangming Xu, Ying Li, Lu Li, Xinge Yu, Junsheng Yu
Summary: Origami has become an optimal method for creating complex 3D structures and soft robots. The electrically controllable origami deformation allows soft robots to be used as soft manipulators, providing a variety of functions.
MICROSYSTEMS & NANOENGINEERING
(2022)
Article
Robotics
Tao Jin, Tianhong Wang, Quan Xiong, Yingzhong Tian, Long Li, Quan Zhang, Chen-Hua Yeow
Summary: Recent advances in soft robotics have demonstrated the need for modular actuation to enable rapid replacement of actuators and extend functionality. This article presents three types of vacuum-driven soft actuators with a cubic shape and different origami skins, featuring contraction, bending, and twisting-contraction combined motions. These actuators can be directly fabricated by molding silicone shell and constraint layers together, and their shape consistency allows for further modularization via mortise and tenon-based structures. Several types of modular soft robots are created to achieve fragile object manipulation and locomotion, showcasing their potential applications.
Article
Robotics
Shane Rozen-Levy, William Messner, Barry A. Trimmer
Summary: The soft climbing robot inspired by caterpillars has a flexible body that allows it to move effectively in complex environments. It is actuated using remote motor-tendons coupled to the structure through Bowden cables, and has demonstrated successful horizontal, vertical, and branch crawling movements.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2021)
Article
Automation & Control Systems
Nima Mahkam, Onur Ozcan
Summary: This study models the dynamics of n legged modular miniature robots with a soft body using the Newton-Euler formulation and contact parameters. The research findings show that different types of backbones affect the motion constraints between modules, which have a significant impact on robot velocity and locomotion.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2021)
Article
Robotics
Wen-Bo Li, Xin-Yu Guo, Wen-Ming Zhang
Summary: Natural animals inspire soft robot designs, with a small stomatopod species known as Nannosquilla decemspinosa exhibiting a unique backward somersaulting locomotion. Scientists have developed a bio-inspired dynamic somersaulting soft robot, which moves at a much faster speed than other fast-moving soft robots, showcasing the great potential of the dynamic somersaulting mechanism for designing highly mobile soft locomotion robots.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Robotics
Barry William Mulvey, Thilina Dulantha Lalitharatne, Thrishantha Nanayakkara
Summary: Many animals can adapt their body shape to navigate through narrow gaps in cluttered environments, but most robots lack this capability. This letter proposes a novel design of a deformable mobile robot that can adjust its stance to increase stability or fit through small gaps and flexible obstacles. The robot uses whisker-based feedback control to match its deformation with the obstacle's compliance level. Real-time algorithms are presented for shape adjustment in uncalibrated environments. Results from obstacle navigation tests highlight the importance of integrating environment perception and physical reaction capabilities for improved performance of mobile robots in unstructured environments.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Biology
Ophelia Bolmin, Lihua Wei, Alexander M. Hazel, Alison C. Dunn, Aimy Wissa, Marianne Alleyne
JOURNAL OF EXPERIMENTAL BIOLOGY
(2019)
Article
Engineering, Multidisciplinary
Mihary R. Ito, Chengfang Duan, Aimy A. Wissa
BIOINSPIRATION & BIOMIMETICS
(2019)
Article
Instruments & Instrumentation
Kim Gustafson, Oyuna Angatkina, Aimy Wissa
SMART MATERIALS AND STRUCTURES
(2020)
Article
Multidisciplinary Sciences
Ophelia Bolmin, John J. Socha, Marianne Alleyne, Alison C. Dunn, Kamel Fezzaa, Aimy A. Wissa
Summary: Many small animals, like click beetles, use springs and latches to overcome muscle limitations and achieve quick body movements. This study identifies and quantifies the phases of the clicking motion, investigates the physical mechanisms enabling fast unbending, and models the beetle as a nonlinear single-degree-of-freedom oscillator. The research provides insights into the energy storage and release strategies of small animals for extreme accelerations.
PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA
(2021)
Article
Engineering, Multidisciplinary
Chengfang Duan, Aimy Wissa
Summary: The study shows that a static covert-inspired flap can delay stall and significantly improve post-stall lift on airfoils. However, the effectiveness of the flap is highly dependent on the choice of airfoil, with limited impact on soft stall airfoils and significant improvements on sharp stall airfoils within a wide range of chord-wise locations.
BIOINSPIRATION & BIOMIMETICS
(2021)
Article
Zoology
William C. Barley, Luisa Ruge-Jones, Aimy Wissa, Andrew Suarez, Marianne Alleyne
Summary: This paper discusses the interdisciplinary challenges in bioinspired design, specifically focusing on the complex motivations, misperceptions, and institutional barriers faced by collaborating researchers. Specific recommendations are proposed to address these challenges.
INTEGRATIVE AND COMPARATIVE BIOLOGY
(2022)
Editorial Material
Multidisciplinary Sciences
Aimy Wissa
Summary: Understanding the impact of wing shape on a bird's agility involves analyzing how mass and geometry relate to aerodynamic performance, with a particular focus on inertial characteristics.
Article
Zoology
O. Bolmin, T. McElrath, A. Wissa, M. Alleyne
Summary: This study investigates how body length and jumping performance scale across the mass range of click beetles by observing and experimenting with specimens from different genera. The results show that the body of click beetles scales isometrically with increasing body mass, and mass is not a predictor of jumping performance.
INTEGRATIVE AND COMPARATIVE BIOLOGY
(2022)
Article
Zoology
Valeria Saro-Cortes, Yuhe Cui, Tierney Dufficy, Arsanious Boctor, Brooke E. Flammang, Aimy W. Wissa
Summary: This paper investigates the aerodynamic and hydrodynamic nature of flying fishes and presents a modular flying fish inspired robotic model organism. The study focuses on the parametric aerodynamic analysis of flying fish pelvic fins. The results show that the position and pitch angle of the pelvic fins have an impact on aerodynamic efficiency and longitudinal stability, with a trade-off between stability and lift generation.
INTEGRATIVE AND COMPARATIVE BIOLOGY
(2022)
Article
Zoology
Aimy Wissa, Marianne Alleyne, William Barley, Andrew Suarez
Summary: Bioinspired design (BID) is an interdisciplinary research field aiming to solve technical problems and drive innovation. To achieve a truly interdisciplinary strategy in BID, it is crucial to address the issues of a usable methodology, utilizing engineering models for testing, and establishing successful interdisciplinary collaborations.
INTEGRATIVE AND COMPARATIVE BIOLOGY
(2022)
Article
Multidisciplinary Sciences
Yuzhe Wang, Qiong Wang, Mingchao Liu, Yimeng Qin, Liuyang Cheng, Ophelia Bolmin, Marianne Alleyne, Aimy Wissa, Ray H. Baughman, Dominic Vella, Sameh Tawfick
Summary: Millions of years of evolution have allowed animals to develop extraordinary locomotion capabilities, such as legless-jumping in click beetles and trap-jaw ants. Researchers have discovered a new concept called dynamic buckling cascading, which enables robots to jump like insects by using lightweight mechanisms for energy storage and release. The robots achieve impressive jumping distances and can be applied to various fields including proximity sensing, inspection, and search and rescue.
PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA
(2023)
Proceedings Paper
Computer Science, Interdisciplinary Applications
Anna Alvarez, Aimy Wissa
Summary: Research shows that the M-shaped wing configurations inspired by bird wings can improve aerodynamic efficiency at high angles of attack and aid in creating a pitch-up moment.
PROCEEDINGS OF ASME 2021 CONFERENCE ON SMART MATERIALS, ADAPTIVE STRUCTURES AND INTELLIGENT SYSTEMS (SMASIS2021)
(2021)
Proceedings Paper
Engineering, Multidisciplinary
Kimberly Gustafson, Luis Urrutia, Alexander Pankonien, Gregory Reich, Aimy Wissa
BIOINSPIRATION, BIOMIMETICS, AND BIOREPLICATION IX
(2019)
Article
Engineering, Multidisciplinary
Michael Lynch, Boris Mandadzhiev, Aimy Wissa
BIOINSPIRATION & BIOMIMETICS
(2018)
