Scalable and Foldable Origami-Inspired Supernumerary Robotic Limbs for Daily Tasks
This paper proposes scalable and foldable origami-inspired supernumerary robotic limbs that incorporate a continuous robotic mechanism to support activities of daily living and presents an analysis of the fabrication process, evaluation experiments, and potential applications of the proposed devices...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2024-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10496675/ |
| _version_ | 1797201341040295936 |
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| author | Mikiya Kusunoki Linh Viet Nguyen Hsin-Ruey Tsai Van Anh Ho Haoran Xie |
| author_facet | Mikiya Kusunoki Linh Viet Nguyen Hsin-Ruey Tsai Van Anh Ho Haoran Xie |
| author_sort | Mikiya Kusunoki |
| collection | DOAJ |
| description | This paper proposes scalable and foldable origami-inspired supernumerary robotic limbs that incorporate a continuous robotic mechanism to support activities of daily living and presents an analysis of the fabrication process, evaluation experiments, and potential applications of the proposed devices. These origami-inspired supernumerary robotic limbs can augment the wearer’s capabilities by adjusting the scale of the devices to various applications and attaching them to parts of the body, such as the hands, wrists, arms, and torso. The device’s foldable structure can be unfolded for use and folded when not in use to prevent physical contact with the wearer and the surrounding environment so that the user’s movements are not restricted. In addition, the robotic limb is made of lightweight and soft material, so it remains safe to use and fatigue-free even after prolonged use. To verify the durability of the origami module, we conducted an experiment in which the module underwent 1,000 compressions using different materials and layer counts based on the folding pattern outlined in the manufacturing diagram. The experimental results showed that polypropylene was a suitable material for reducing fatigue due to folding, compared to polypropylene synthetic paper or plain paper. We also observed decreased stiffness with an increase in the number of layers. We believe that the proposed origami-inspired supernumerary robotic limbs can enlighten novel approaches to combining soft robotic and wearable devices. |
| first_indexed | 2024-04-24T07:46:00Z |
| format | Article |
| id | doaj.art-a240052b472b45de95be12e728ff079d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-04-24T07:46:00Z |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-a240052b472b45de95be12e728ff079d2024-04-18T23:00:31ZengIEEEIEEE Access2169-35362024-01-0112534365344710.1109/ACCESS.2024.338748510496675Scalable and Foldable Origami-Inspired Supernumerary Robotic Limbs for Daily TasksMikiya Kusunoki0https://orcid.org/0009-0006-2084-4886Linh Viet Nguyen1https://orcid.org/0009-0003-2021-5500Hsin-Ruey Tsai2Van Anh Ho3https://orcid.org/0000-0002-4519-0448Haoran Xie4https://orcid.org/0000-0002-6926-3082Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, JapanJapan Advanced Institute of Science and Technology, Nomi, Ishikawa, JapanDepartment of Computer Science, National Chengchi University, Taipei, TaiwanJapan Advanced Institute of Science and Technology, Nomi, Ishikawa, JapanJapan Advanced Institute of Science and Technology, Nomi, Ishikawa, JapanThis paper proposes scalable and foldable origami-inspired supernumerary robotic limbs that incorporate a continuous robotic mechanism to support activities of daily living and presents an analysis of the fabrication process, evaluation experiments, and potential applications of the proposed devices. These origami-inspired supernumerary robotic limbs can augment the wearer’s capabilities by adjusting the scale of the devices to various applications and attaching them to parts of the body, such as the hands, wrists, arms, and torso. The device’s foldable structure can be unfolded for use and folded when not in use to prevent physical contact with the wearer and the surrounding environment so that the user’s movements are not restricted. In addition, the robotic limb is made of lightweight and soft material, so it remains safe to use and fatigue-free even after prolonged use. To verify the durability of the origami module, we conducted an experiment in which the module underwent 1,000 compressions using different materials and layer counts based on the folding pattern outlined in the manufacturing diagram. The experimental results showed that polypropylene was a suitable material for reducing fatigue due to folding, compared to polypropylene synthetic paper or plain paper. We also observed decreased stiffness with an increase in the number of layers. We believe that the proposed origami-inspired supernumerary robotic limbs can enlighten novel approaches to combining soft robotic and wearable devices.https://ieeexplore.ieee.org/document/10496675/Human augmentationsupernumerary robotic limbsorigami-inspired robot |
| spellingShingle | Mikiya Kusunoki Linh Viet Nguyen Hsin-Ruey Tsai Van Anh Ho Haoran Xie Scalable and Foldable Origami-Inspired Supernumerary Robotic Limbs for Daily Tasks IEEE Access Human augmentation supernumerary robotic limbs origami-inspired robot |
| title | Scalable and Foldable Origami-Inspired Supernumerary Robotic Limbs for Daily Tasks |
| title_full | Scalable and Foldable Origami-Inspired Supernumerary Robotic Limbs for Daily Tasks |
| title_fullStr | Scalable and Foldable Origami-Inspired Supernumerary Robotic Limbs for Daily Tasks |
| title_full_unstemmed | Scalable and Foldable Origami-Inspired Supernumerary Robotic Limbs for Daily Tasks |
| title_short | Scalable and Foldable Origami-Inspired Supernumerary Robotic Limbs for Daily Tasks |
| title_sort | scalable and foldable origami inspired supernumerary robotic limbs for daily tasks |
| topic | Human augmentation supernumerary robotic limbs origami-inspired robot |
| url | https://ieeexplore.ieee.org/document/10496675/ |
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