Kirigami skins make a simple soft actuator crawl


A. Rafsanjani, Y. Zhang, B. Liu, S. M. Rubinstein, and K. Bertoldi. 2018. “Kirigami skins make a simple soft actuator crawl.” Science Robotics, 3, 15, Pp. eaar7555. Publisher's Version
Kirigami skins make a simple soft actuator crawl


Bioinspired soft machines made of highly deformable materials are enabling a variety of innovative applications, yet their locomotion typically requires several actuators that are independently activated. We harnessed kirigami principles to significantly enhance the crawling capability of a soft actuator. We designed highly stretchable kirigami surfaces in which mechanical instabilities induce a transformation from flat sheets to 3D-textured surfaces akin to the scaled skin of snakes. First, we showed that this transformation was accompanied by a dramatic change in the frictional properties of the surfaces. Then, we demonstrated that, when wrapped around an extending soft actuator, the buckling-induced directional frictional properties of these surfaces enabled the system to efficiently crawl.



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Last updated on 03/10/2018