Reprogrammable, intelligent soft origami LEGO coupling actuation, computation, and sensing  

作　　者：Zhongdong Jiao Zhenhan Hu Yuhao Shi Kaichen Xu Fangye Lin Pingan Zhu Wei Tang Yiding Zhong Huayong Yang Jun Zou 

机构地区：[1]State Key Laboratory of Fluid Power and Mechatronic Systems,Zhejiang University,Hangzhou 310058,China

出　　处：《The Innovation》2024年第1期59-69,共11页创新（英文）

摘　　要：Tightly integrating actuation,computation,and sensing in soft materials allows soft robots to respond autonomously to their environments.However,fusing these capabilities within a single soft module in an effi-cient,programmable,and compatible way is still a significant challenge.Here,we introduce a strategy for integrating actuation,computation,and sensing capabilities in soft origami.Unified and plug-and-play soft origami modules can be reconfigured into diverse morphologies with specific functions or reprogrammed into a variety of soft logic circuits,similar to LEGO bricks.We built an untethered autonomous soft turtle that is able to sense stimuli,store data,process information,and perform swimming movements.The function multiplexing and signal compatibility of the origami minimize the number of soft devices,thereby reducing the complexity and redundancy of soft robots.Moreover,this origami also exhibits strong damage resistance and high durability.We envision that this work will offer an effective way to readily create on-demand soft robots that can operate in unknown environments.

关 键 词：integrating AUTONOMOUS COMPUTATION 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]