Origami Robotics
Origami Robotics
Experiments in lightweight and versatile paper actuation using muscle wire, a shape memory alloy (SMA) that contracts when heated with electric current.
By sewing or weaving the SMA through paper, the sheet is able to self-fold or self-curl without the need for bulky motors or pumps used in traditional actuation. The versatility of paper mechanisms also allows for a wide variety of movements and applications.
2010-2012
Read More:
Self-Folding Paper
Paper Actuation Mechanisms
Flapping Cranes
Publications:
Animating Paper with Shape Memory Alloys [PDF]
Qi, Jie and Buechley, Leah. In Proceedings of the SIGCHI Conference on Human Factors in Computing Systems (CHI ’12). ACM, New York, NY, USA, 749–752.
Related External Links:
MAKE: Guide to Working with SMAs
Flapping Origami Crane Tutorial
Self-Folding Paper
I/O paper is a pair of connected origami square that fold into a blintz. The controller paper in red senses folding using conductive yarn sensors and output paper in white, mirrors the motion using SMA sewn to each fold.
![](http://technolojie.com/wp-content/uploads/2020/05/io_paper-1024x768.jpg)
![](http://technolojie.com/wp-content/uploads/2020/05/i0_paper_red_full-1024x768.jpg)
![](http://technolojie.com/wp-content/uploads/2020/05/io_paper_white_zoom-1024x768.jpg)
![](http://technolojie.com/wp-content/uploads/2020/05/io_paper_white_back_zoom-1024x768.jpg)
![](http://technolojie.com/wp-content/uploads/2020/05/io_paper_red_back-1024x768.jpg)
![](http://technolojie.com/wp-content/uploads/2020/05/io_paper_white_zoom_sma-1024x768.jpg)
![](http://technolojie.com/wp-content/uploads/2020/05/io_paper_back_detail-1024x768.jpg)
![](http://technolojie.com/wp-content/uploads/2020/05/io_paper_circuit-1024x768.jpg)
Paper Actuation Mechanisms
For those interested in trying out these mechanisms, please check out my MAKE: Guide to working with Shape Memory Alloy.
Folding
Looping the SMA above the crease of the fold and anchoring the two ends of wire below the crease will create a hinge that folds when pulled by the shrinking SMA wire.
Curling
By sewing the SMA along the surface of the paper, creating a tube the wire can slip through, when the SMA contracts, the paper must curl to match the shortened wire.
Parallelogram Lift
Attaching the self-folding mechanism to an origami parallelogram creates a mechanism for lifting surfaces.
Clamshell/Oricep
A clamshell fold, also known as an “oricep,” allows for a composite folding motion perpendicular to the original actuation.
Flapping Cranes
![](http://technolojie.com/wp-content/uploads/2020/05/origami_crane_circuit-1024x768.jpg)
![](http://technolojie.com/wp-content/uploads/2020/05/origami_detail-1024x768.jpg)
![](http://technolojie.com/wp-content/uploads/2020/05/origrami_crane_battery.jpg)
![](http://technolojie.com/wp-content/uploads/2020/05/origami_wing_detail.jpg)
Want to try making your own flapping origami crane with shape memory alloy? Try my tutorial here.