DNA origami enables the precise fabrication of nanoscale geometries. We demonstrate an approach to engineer complex and reversible motion machine elements. first design, fabricate, characterize mechanical behavior flexible rotational linear joints that integrate stiff double-stranded components single-stranded constrain along a single degree freedom ability tune flexibility range motion. Multiple with simple 1D were then integrated into higher order mechanisms. One mechanism is crank-slider...

This paper details the design and fabrication process of a fully integrated soft humanoid robotic hand with five finger that integrate an embedded shape memory alloy (SMA) actuator piezoelectric transducer (PZT) flexure sensor. Several challenges including precise control SMA actuator, improving power efficiency, reducing actuation current response time have been addressed. First, Ni-Ti strip is pretrained to circular shape. Second, it wrapped Ni-Cr resistance wire coated thermally...

In this paper, a pseudorigid-body (PRB) 3R model, which consists of four rigid links joined by three revolute joints and torsion springs, is proposed for approximating the deflection cantilever beam subject to general tip load. The large equations are solved through numerical integration. A comprehensive atlas various load modes obtained. three-dimensional search routine has been developed find optimal set characteristic radius factors spring stiffness PRB model. Detailed error analysis done...

DNA origami enables fabrication of precise nanostructures by programming the self-assembly DNA. While this approach has been used to make a variety complex 2D and 3D objects, mechanical functionality these structures is limited due their rigid nature. We explore deformable, or compliant, objects establish framework for mechanically functional nanostructures. This compliant design in macroscopic engineering devices including sensors, actuators, robots. build utilizing entropic elasticity...

With the increase in driver assistance systems, models are becoming more important to vehicle control, driving safety, and performance. To make these systems better cooperate with human drivers, need be able predict behaviors distinguish among different drivers. In this paper, a combined model consisting of compensatory transfer function an anticipatory component based on road geometry is integrated design individual driver's desired path. The proposed parameters obtained from subject test...

Flexible sensing tends to be widely exploited in the process of human-computer interactions intelligent robots for its contact compliance and environmental adaptability. A novel flexible capacitive tactile sensor was proposed multi-directional force sensing, which is based on carbon black/polydimethylsiloxane (PDMS) composite dielectric layer upper lower electrodes nanotubes/polydimethylsiloxane (CNTs/PDMS) layer. By changing ratio black, resolution black/PDMS increases at 4 wt%, then...

In this research, a soft robotic gripper with variable stiffness enabled by novel positive pressure layer jamming technology was developed and fabricated in two materials using customized additive manufacturing. A for tuning of the gripper. Positive has higher performance potential than conventional vacuum since can be applied, approximately 1.6x terms payload capacity. Two different thermoplastics are printed together to form relatively hard backbone airtight actuation bellows. The...

This paper presents a screw theory based approach for the analysis and synthesis of flexible joints using wire sheet flexures. The focus is on designing flexure systems that have simple geometry, i.e., parallel constraint pattern. We provide systematic formulation constraint-based approach, which has been mainly developed by precision engineering experts in machines. two fundamental concepts freedom, can be represented mathematically wrench twist theory. For example, an ideal applies...

Flexure mechanism synthesis, however, is still a comparably difficult task. This paper aims at exploring simple but systematic type synthesis methodology for general flexure mechanisms. The applied mathematical tool reciprocal screw system theory in geometric form, and the proposed approach an improvement of freedom constraint topology (FACT), which based on FACT approach, combining with other methods including equivalent compliance mapping, set operation building blocks, etc. As result, it...

This paper presents a symbolic formulation for analytical compliance analysis and synthesis of flexure mechanisms with serial, parallel, or hybrid topologies. Our approach is based on the screw theory that characterizes deformations motion twists loadings force wrenches. In this work, we first derive stiffness matrices commonly used elements, joints, simple chains. Elements these are all explicit functions parameters. To analyze general mechanism, subdivide it into multiple structural...

In recent years, significant emphases and efforts have been placed on developing implementing advanced driver assistance systems (ADAS). These need to work with human drivers increase vehicle occupant safety, control, performance in both ordinary emergency driving situations. To aid such cooperation between ADAS, models are necessary replicate predict behaviors distinguish among different drivers. This paper presents a combined model that is able not only identify individual behaviors, but...

In this article, we propose a novel shape memory alloy (SMA) strip-based bending actuator for soft robotic hand. Soft robots have significant advantages of safety, adaptability, and dexterity compared with traditional rigid body robots. However, one challenge is the design modeling effective actuators. This article presents using SMA strips. An analysis model strip are developed to predict output performances provide guidance designers. The experiments conducted verify proposed models. We...

Structural DNA nanotechnology provides a feasible technique for the design and fabrication of complex geometries even exhibiting controllable dynamic behavior. Recently we have demonstrated possibility implementing macroscopic engineering approaches to construct origami mechanisms (DOM) with programmable motion tunable flexibility. Here, implement compliant extend from prescribing an energy landscape. Compliant facilitate via deformation components stiffness resulting in well-defined...

The ability to design and control DNA nanodevices with programmed conformational changes has established a foundation for molecular-scale robotics applications in nanomanufacturing, drug delivery, controlling enzymatic reactions. most commonly used approach actuating these devices, binding strand displacement, allows devices respond molecules solution, but this is limited response times of minutes or greater. Recent advances have enabled electrical magnetic structures sub-second times,...

Abstract In this paper, we present a novel compliant robotic gripper with three variable stiffness fingers. While the shape morphing of fingers is cable-driven, variation enabled by layer jamming. The inherent flexibility makes suitable for tasks such as grasping soft and irregular objects. However, their relatively low load capacity due to intrinsic compliance limits applications. Variable grippers have potential address challenge can be tuned on demand tasks. our design, backbone finger...

Abstract Scaffolded DNA origami has proven to be a powerful and efficient technique fabricate functional nanomachines by programming the folding of single-stranded template strand into three-dimensional (3D) nanostructures, designed precisely motion-controlled. Although two-dimensional (2D) imaging using transmission electron microscopy atomic force suggested these are dynamic in 3D, geometric analysis based on 2D was insufficient uncover exact motion 3D. Here we use individual-particle...

Abstract This article presents a novel soft robotic gripper with high payload capacity based on the layer jamming technology. Soft robots have adaptability, however suffer low capacity. To overcome these conflicting challenges, here we introduce 3D printed multi-material that integrates layers for enhancing By inflating internal air chamber positive pressure, finger can be actuated to large bending angle adapting complex shapes. Layers of sheets are bounded structure and then sealed inside...