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mechanical Properties Inside Origami-Inspired Structures: An Overview

Applied Mechanics Reviews 2025年第1期77卷 011001页

作者： Yan, Peng Huang, Hailin Meloni, Marco Li, Bing Cai, Jianguo Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen518052 China Harbin Institute of Technology Shenzhen518052 China Key Laboratory of C & PC Structures of Ministry of Education National Prestress Engineering Research Center Southeast University Nanjing211189 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin150001 China Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics Harbin Institute of Technology Shenzhen518052 China Key University Laboratory of Mechanism Machine Theory and Intelligent Unmanned Systems of Guangdong Habin Institute of Technology Shenzhen518052 China

In recent decades, origami has transitioned from a traditional art form into a systematic field of scientific inquiry, characterized by attributes such as high foldability, lightweight frameworks, diverse deformation modes, and limited degrees-of-freedom. Despite the abundant literature on smart materials, actuation methods, design principles, and manufacturing techniques, comprehensive reviews focusing on the mechanical properties of origami-inspired structures are relatively rare and unsystematic. This review aims to fill this void by analyzing and summarizing the significant studies conducted on the mechanical properties of origami-inspired structures from 2013 to 2023. We begin with an overview that includes essential definitions of origami, classical origami patterns, and their associated tessellated or stacked structures. Following this, we delve into the principal dynamic modeling method for origami and conduct an in-depth analysis of the key mechanical properties of origami-inspired structures. These properties include tunable stiffness, bistability and multistability, metamechanical properties demonstrated by origami-based metamaterials, and bio-inspired mechanical properties. Finally, we conclude with a comprehensive summary that discusses the current challenges and future directions in the field of origami-inspired structures. Our review provides a thorough synthesis of both the mechanical properties and practical applications of origami-inspired structures, aiming to serve as a reference and stimulate further research. © 2025 American Society of mechanical Engineers (ASME). All rights reserved.

关键词： Degrees of freedom (mechanics)

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Impact of Feature-Selection in a Data-Driven Method for Flow Curve Identification of Sheet Metal

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Metals 2025年第4期15卷 392-392页

作者： Hoang, Quang Ninh Park, Hyungbum Lai, Dang Giang Nguyen, Sy-Ngoc Pham, Quoc Tuan Dinh, Van Duy Department of Mechanical Engineering Incheon National University Incheon22012 Korea Republic of Le Quy Don Technical University Hanoi100000 Viet Nam Department of Mechanical Robotics and Energy Engineering Dongguk University Seoul04620 Korea Republic of School of Mechanical Engineering Hanoi University of Science and Technology Hanoi100000 Viet Nam

This study presents an innovative data-driven methodology to model the hardening behavior of sheet metals across a broad strain range, crucial for understanding sheet metal mechanics. Conventionally, true stress–strain data from such tests are used to analyze plastic flow within the pre-necking regime, often requiring additional experiments to inverse finite element methods, which demand extensive field data for improved accuracy. Although digital image correlation offers precise data, its implementation is costly. To address this, we integrate experimental data from standard tensile tests with a machine-learning approach to estimate the flow curve. Subsequently, we conduct finite element simulations on uniaxial tensile tests, using materials characterized by the Swift constitutive equation to build a comprehensive database. Loading force-gripper displacement curves from these simulations are then transformed into input features for model training. We propose and compare three models—Models A, B, and C—each employing different input feature selections to estimate the flow curve. Experimental validation including uniaxial tensile, plane strain, and simple shear tests on the DP590 and DP780 sheets are then carefully considered. Results demonstrate the effectiveness of our proposed method, with Model C showing the highest efficacy. © 2025 by the authors.

关键词： Tensile testing

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Acoustic Properties of Stretchable Liquid Metal-Elastomer Composites for Matching Layers in Wearable Ultrasonic Transducer Arrays

Acoustic Properties of Stretchable Liquid Metal-Elastomer Co...

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IEEE Symposium on Semiconductor Thermal Measurement and Management (SEMI-THERM)

作者： Ethan Krings Eric Markvicka Department of Mechanical & Materials Engineering Smart Materials and Robotics Laboratory University of Nebraska–Lincoln Lincoln NE USA

ISBN: (数字)9781735532554

ISBN: (纸本)9798331599362

Ultrasound is a safe, noninvasive diagnostic technique used to measure internal structures such as tissues, organs, and arterial and venous blood flow. Skin-mounted wearable ultrasound devices can enable long-term continuous monitoring of patients to provide solutions to critical healthcare needs. However, stretchable ultrasound devices that are composed of ultrasonic transducers embedded in an elastomer matrix are incompatible with existing rigid acoustic matching layers, leading to reduced energy transmission and reduced imaging resolution. Here, a systematic study of soft composites with liquid metal (LM) fillers dispersed in elastomers reveals key strategies to tune the acoustic impedance of soft materials. Experiments supported by theoretical models demonstrate that the increase in acoustic impedance is primarily driven by the increase in density with negligible changes to the speed of sound through the material. By controlling the volume loading and particle size of the LM fillers, we create a material that achieves a high acoustic impedance 4.8 Mrayl, (> 440% increase over the polymer matrix) with low modulus (< 1 MPa) and high stretchability (> 100% strain). When the device was mechanically strained, we observed a small decrease in acoustic impedance (< 15%) with negligible decrease in sound transmittance and impact on attenuation for all droplet sizes. The stretchable acoustic matching layer was then integrated with a wearable ultrasound device and the ability to measure motion was demonstrated using a phantom model as is performed in Doppler ultrasound.

关键词： Ultrasonic transducers Performance evaluation Ultrasonic imaging Ultrasonic variables measurement Elastomers Attenuation Acoustics Impedance Biomedical monitoring Strain

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Theoretical Data-Driven MobilePosenet: Lightweight Neural Network for Accurate Calibration-Free 5-DOF Magnet Localization

arXiv

引用

arXiv 2025年

作者： Xie, Wenxuan Zhang, Yuelin Shan, Jiwei Sun, Hongzhe Tan, Jiewen Cheng, Shing Shin Department of Mechanical and Automation Engineering T Stone Robotics Institute The Chinese University of Hong Kong Hong Kong

Permanent magnet tracking using the external sensor array is crucial for the accurate localization of wireless capsule endoscope robots. Traditional tracking algorithms, based on the magnetic dipole model and Levenberg-Marquardt (LM) algorithm, face challenges related to computational delays and the need for initial position estimation. More recently proposed neural network-based approaches often require extensive hardware calibration and real-world data collection, which are time-consuming and labor-intensive. To address these challenges, we propose MobilePosenet, a lightweight neural network architecture that leverages depthwise separable convolutions to minimize computational cost and a channel attention mechanism to enhance localization accuracy. Besides, the inputs to the network integrate the sensors' coordinate information and random noise, compensating for the discrepancies between the theoretical model and the actual magnetic fields and thus allowing MobilePosenet to be trained entirely on theoretical data. Experimental evaluations conducted in a 90 × 90 × 80 mm workspace demonstrate that MobilePosenet exhibits excellent 5-DOF localization accuracy (1.54 ± 1.03 mm and 2.24 ± 1.84◦) and inference speed (0.9 ms) against state-of-the-art methods trained on real-world data. Since network training relies solely on theoretical data, MobilePosenet can eliminate the hardware calibration and real-world data collection process, improving the generalizability of this permanent magnet localization method and the potential for rapid adoption in different clinical settings. © 2025, CC BY-NC-ND.

关键词： Calibration

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Origami-Inspired Soft Gripper with Tunable Constant Force Output

arXiv

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arXiv 2025年

作者： Ni, Zhenwei Xu, Chang Qin, Zhihang Zhang, Ceng Tang, Zhiqiang Wang, Peiyi Laschi, Cecilia Department of Mechanical Engineering and Advanced Robotics Centre National University of Singapore Singapore Singapore centre Singapore Singapore

Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications that require stable grasping force. In this work, we propose a soft gripper that utilizes an origami-inspired structure to achieve tunable constant force output over a wide strain range. The geometry of each taper panel is established to provide necessary parameters such as protrusion distance, taper angle, and crease thickness required for 3D modeling and FEA analysis. Simulations and experiments show that by optimizing these parameters, our design can achieve a tunable constant force output. Moreover, the origami-inspired soft gripper dynamically adapts to different shapes while preventing excessive forces, with potential applications in logistics, manufacturing, and other industrial settings that require stable and adaptive operations. Copyright © 2025, The Authors. All rights reserved.

关键词： Grippers

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Virtual-Work Based Shape-Force Sensing for Continuum Instruments with Tension-Feedback Actuation

arXiv

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arXiv 2025年

作者： Zhang, Guoqing Chen, Zihan Wang, Long Department of Mechanical Engineering Stevens Institute of Technology NJ United States Cornerstone Robotics Limited Hong Kong

Continuum instruments are integral to robot-assisted minimally invasive surgery (MIS), with tendon-driven mechanisms being the most common. Real-time tension feedback is crucial for precise articulation but remains a challenge in compact actuation unit designs. Additionally, accurate shape and external force sensing of continuum instruments are essential for advanced control and manipulation. This paper presents a compact and modular actuation unit that integrates a torque cell directly into the pulley module to provide real-time tension feedback. Building on this unit, we propose a novel shape-force sensing framework that incorporates polynomial curvature kinematics to accurately model non-constant curvature. The framework combines pose sensor measurements at the instrument tip and actuation tension feedback at the developed actuation unit. Experimental results demonstrate the improved performance of the proposed shape-force sensing framework in terms of shape reconstruction accuracy and force estimation reliability compared to conventional constant-curvature methods. Copyright © 2025, The Authors. All rights reserved.

关键词： Robotic surgery

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DRPA-MPPI: Dynamic Repulsive Potential Augmented MPPI for Reactive Navigation in Unstructured Environments

arXiv

引用

arXiv 2025年

作者： Fuke, Takahiro Endo, Masafumi Honda, Kohei Ishigami, Genya Space Robotics Group Department of Mechanical Engineering Keio University Yokohama223-8522 Japan Mobility System Group Department of Mechanical Systems Engineering Nagoya University Nagoya464-8603 Japan

Reactive mobile robot navigation in unstructured environments is challenging when robots encounter unexpected obstacles that invalidate previously planned trajectories. Model predictive path integral control (MPPI) enables reactive planning, but still suffers from limited prediction horizons that lead to local minima traps near obstacles. Current solutions rely on heuristic cost design or scenario-specific pre-training, which often limits their adaptability to new environments. We introduce dynamic repulsive potential augmented MPPI (DRPA-MPPI), which dynamically detects potential entrapments on the predicted trajectories. Upon detecting local minima, DRPA-MPPI automatically switches between standard goal-oriented optimization and a modified cost function that generates repulsive forces away from local minima. Comprehensive testing in simulated obstacle-rich environments confirms DRPA-MPPI’s superior navigation performance and safety compared to conventional methods with less computational burden. Copyright © 2025, The Authors. All rights reserved.

关键词： Cost functions

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Convergent effects of peptides on the initiation of feeding motor programs in the mollusk Aplysia

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Journal of Neurophysiology 2025年第5期133卷 1368-1379页

作者： Evans, Colin G. Barry, Michael A. Reaver, Carrie N. Patel, Paras R. Chestek, Cynthia A. Perkins, Matthew H. Jing, Jian Cropper, Elizabeth C. Department of Neuroscience Friedman Brain Institute Icahn School of Medicine at Mount Sinai New York NY United States Department of Biomedical Engineering Biointerfaces Institute University of Michigan Ann Arbor MI United States Department of Electrical Engineering and Computer Science Neurosciences Program Robotics Program University of Michigan Ann Arbor MI United States State Key Laboratory of Pharmaceutical Biotechnology Institute for Brain Sciences Chemistry and Biomedicine Innovation Center Jiangsu Engineering Research Center for MicroRNA Biology and Biotechnology Advanced Institute for Life Sciences School of Life Sciences Nanjing University Nanjing China

Neuropeptides configure the feeding network of Aplysia. For example, egestive activity is promoted by small cardioactive peptide (SCP), and ingestive activity is promoted by a combination of feeding circuit activating peptide (FCAP) and cerebral peptide 2 (CP-2). In addition, SCP and FCAP/CP-2 have a common network effect that does not contribute to motor program specification. They increase the excitability of an interneuron, B63. In this report, we further characterized the effects of peptides on B63. We performed voltage-clamp experiments and used a step protocol to look at steady-state currents. We found that SCP and FCAP/CP-2 both induced an inward current that was virtually absent in low-sodium saline. Previous work has established that B63 is unusual in the feeding circuit in that subthreshold depolarizations are autonomously generated that can trigger motor programs. Here, we show that this autonomous activity is more frequent in the presence of peptides. Previous studies have also shown that activity of the feeding central pattern generator (CPG) can be initiated by neurons that excite B63, e.g., by cerebral buccal interneuron 2 (CBI-2), a projection neuron that triggers biting-like motor programs. Here, we show that the latency of CBI-2-induced activity is decreased by stimulation of the esophageal nerve (EN) (which releases endogenous SCP). These results, taken together with previous results, indicate that peptides that act divergently to configure network activity additionally act convergently to promote motor program induction. We present data that suggest that this arrangement facilitates brief switches between ingestive and egestive motor activity. © 2025 The Authors.

关键词： central pattern generator invertebrate modulation motor program neuropeptide

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Feasibility Evaluation of Quadratic programs for Constrained Control

arXiv

引用

arXiv 2025年

作者： Rousseas, Panagiotis Panagou, Dimitra Control Systems Laboratory School of Mechanical Engineering National Technical University of Athens Greece Department of Robotics Department of Aerospace Engineering University of Michigan MI United States

This paper presents a computationally-efficient method for evaluating the feasibility of Quadratic programs (QPs) for online constrained control. Based on the duality principle, we first show that the feasibility of a QP can be determined by the solution of a properly-defined Linear program (LP). Our analysis yields a LP that can be solved more efficiently compared to the original QP problem, and more importantly, is simpler in form and can be solved more efficiently compared to existing methods that assess feasibility via LPs. The computational efficiency of the proposed method compared to existing methods for feasibility evaluation is demonstrated in comparative case studies as well as a feasible-constraint selection problem, indicating its promise for online feasibility evaluation of optimization-based controllers. © 2025, CC BY.

关键词： Quadratic programming

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Cutting Skill Assessment by Motion Analysis Using Deep Learning and Spatial Marker Tracking

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IEEE Transactions on Biomedical engineering 2025年第6期72卷 1963-1972页

作者： Su, Bai-Quan Ma, Xu-Dong Li, Weihan Kuang, Zi-Ao Gong, Yi Wang, Gang Zhang, Qingqian Liu, Wenyong Li, Changsheng Gao, Li Wang, Junchen Beijing University of Posts and Telecommunications Medical Robotics Laboratory School of Automation Beijing100876 China University of Tokyo School of Mechanical Engineering Tokyo113-0033 Japan Beijing University of Posts and Telecommunications School of Computer Science Beijing100876 China Peking University General Surgery Department Beijing100191 China Beihang University Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beijing100083 China Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China Peking University Department of Periodontology National Stomatological Center School and Hospital of Stomatology National Clinical Research Center for Oral Diseases National Engineering Research Center of Oral Biomaterials and Digital Medical Devices Beijing100081 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China

The assessment of surgical skill is crucial for indicating a surgeon's proficiency. While motion analysis of surgical tools is widely used in endoscopic surgery, it is not commonly applied to open surgery. Instead, open surgery skill assessment relies on observing the trajectory of surgical tools on tissue. This observation-based method often lacks clear standards, leading to inaccurate assessments. This paper presents a method for evaluating cutting skill in open surgery through scalpel motion analysis. A 3D multiple-facet ArUco code cube is designed, and a dataset of tip coordinate system poses for various scalpels in the ArUco code coordinate system (ACS) is established using the pivot calibration method. The YOLOv8 model and an image dataset of different scalpels are used to identify the scalpel type and select its tip position. The tip position is then transformed from ACS to a binocular camera coordinate system (BCS), representing the incision curve made by the scalpel. Five assessment metrics are proposed to quantify the surgeon's cutting skill: average incision curvature deviation, incision length difference, incision endpoint deviation, average incision deviation, and average cutting jerk. Experiments involving twenty expert and novice surgeons performing four common incisions (straight line, polyline, semicircle, and cross line) demonstrate the metrics' effectiveness. The metrics provide a clear, objective display of individual cutting skills, and a combined ranking reveals comparative skill levels. This study offers a precise method for evaluating surgeons' cutting skills with a scalpel in open surgery. © 1964-2012 IEEE.

关键词： Surgery

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