Page 43 - Flexible Robotics in Medicine

26 Chapter 2

Figure 2.1
The origami layout partially creased and the folded paper prototype, which is 9 mm in diameter.

Figure 2.2
Origami pattern for one layer of the fold.

2.3.2.2 Actuation method
The actuation method used was pneumatics via syringes. Fig. 2.3 shows the prototype that
was connected by tubes to four syringes for each unit, as the individual units were inflated
and deflated one by one to achieve the desired movement patterns.
In order to mimic the gaits chosen for this project, the current prototype design uses a
combination of four-bellows units that allows the robot to achieve a variety of curves,
as shown in Fig. 2.3. The rationale for choosing four units instead of two units was to
allow the robot to achieve an “S” shaped curve that applies to the concertina motion
when the robot would have to curve and extend outward while maintaining friction on
the ground. This S-shape was able to be achieved by the simultaneous deflation of two
diagonal units as well as inflation of the remaining two diagonal units. A more