Flexoskeleton Printing

Bio-inspired robot fabrication for multifunctional applications

This project combines commercially available 3D printing with robot lamination process to create biomimetic robot features with built-in compliance and deformability. A GitHub website features the whole fabrication process with some demos in it.

Flexoskeleton printing process.



Publications

  1. M. Jiang, Z. Zhou, and N. Gravish, “Flexoskeleton Printing Enables Versatile Fabrication of Hybrid Soft and Rigid Robots,” Soft Robot, vol. 7, no. 6, pp. 770–778, Dec. 2020. [pdf]
  2. Q. Yu, M. Jiang, and N. Gravish, “Flexoskeleton Fingers: 3D Printed Reconfigurable Ridges Enabling Multi-Functional and Low-Cost Underactuated Grasping,” IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3971–3978, Apr. 2021. [pdf]
  3. M. Jiang, R. Song, and N. Gravish, “Knuckles that buckle: compliant underactuated limbs with joint hysteresis enable minimalist terrestrial robots,” in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2020, pp. 3732–3738. [pdf]