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    Please use this identifier to cite or link to this item: https://nccur.lib.nccu.edu.tw/handle/140.119/154146


    Title: Scalable and Foldable Origami-Inspired Supernumerary Robotic Limbs for Daily Tasks
    Authors: 蔡欣叡
    Tsai, Hsin-Ruey;Kusunoki, Mikiya;Nguyen, Linh Viet;Ho, Van Anh;Xie, Haoran
    Contributors: 資訊系
    Keywords: Human augmentation;supernumerary robotic limbs;origami-inspired robot
    Date: 2024-04
    Issue Date: 2024-10-28 13:15:44 (UTC+8)
    Abstract: 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.
    Relation: IEEE Access, Vol.12, pp.53436-53447
    Data Type: article
    DOI link: https://doi.org/10.1109/ACCESS.2024.3387485
    DOI: 10.1109/ACCESS.2024.3387485
    Appears in Collections:[Department of Computer Science ] Periodical Articles

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