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- W4387474213 abstract "Abstract Magnetically actuated miniature origami crawlers are capable of robust locomotion in confined environments due to their ability to overcome large environmental resistances. However, these devices are limited to passive functionalities as they are not able to utilize folding and unfolding for independent locomotion and active functionality. Here, we propose a bistable origami crawler that can shape-morph to access two separate regimes of folding degrees-of-freedoms that are separated by an energy barrier conferred by bistability. We employed the modified bistable V-fold origami crease pattern design as the fundamental unit of the origami crawler and incorporated internal permanent magnets to enable untethered shape-morphing for locomotion and reconfiguration. Specifically, by modulating the orientation of the external magnetic field, the origami crawler can reconfigure on-demand between an undeployed locomotion state, and a deployed load-bearing state. In the undeployed state, the origami crawler was able to actively deform to enable out-of-plane crawling for robust bi-directional locomotion and navigation in confined environments based on friction anisotropy. In the deployed state, the origami crawler was able to execute microneedle insertion in confined environments. Through this work, we demonstrated the potential of incorporating bistability into origami mechanisms to enable energy-dependent folding degrees-of-freedom, expanding the capabilities of origami devices in space-constraint applications." @default.
- W4387474213 created "2023-10-11" @default.
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- W4387474213 date "2023-10-11" @default.
- W4387474213 modified "2023-10-16" @default.
- W4387474213 title "Untethered Bistable Origami Crawler for Confined Applications" @default.
- W4387474213 doi "https://doi.org/10.21203/rs.3.rs-3397506/v1" @default.
- W4387474213 hasPublicationYear "2023" @default.
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