Development of self-folding origami sensors through the use of resistance, capacitance, and inductance

Abstract

Though robotics is still perceived as a very "high-tech" field and largely associated with academia and industry, accessibility and demand for the accessibility of robots is on the rise. A variety of efforts to meet this demand include the design and manufacture of "printable" robots through the use of 3D printers or foldable robotic components. This thesis sought to address the need for printable sensors through the use of self-folding, conductive origami. Using Miyashita's technique for self-folding origami through global heat application, a several sensors were designed and fabricated. A variable resistor design can detect compression via shorting between tiles (thereby decreasing resistance). Smoother detection of compression was achieved through measurement of capacitance in a design which connected alternate rows of tiles. Lastly, inductance and magnetic field of a folded coil were measured as part of an exploration into the potential for printable actuation. Using the magnetic field produced by a 24-winding coil under 5A of current, actuation was achieved in the form of small compression (up to I mm) of the coil.