Fig. 4: b-FDM 3D printed multifunctional origami gripper.
From: 3D printing with a 3D printed digital material filament for programming functional gradients
a Schematic illustration of the multimaterial, multifunctional origami gripper. b As-printed origami gripper. c The folding sequence of the gripper. d DM filament design for b-FDM printing of the gripper with mechanical and electrical gradient. A specific material composition (ϕ) and homogeneity parameter (η) to program desired material properties (illustrated with blue shade) such as flexural modulus (Eb) and gauge factor (GF) are provided in the table. e, f The effect of the mechanical gradient on the integration of heterogeneous properties. The folding behavior of e the b-FDM printed origami gripper is contrasted with f the conventional FDM printed gripper which exhibits clear delamination at the interface. g, h The effect of electrical gradient on the integrated circuit. g Folding and gripping detection mechanism based on electrical gradient design. h Resistance variation of the folding sensor and the tactile sensor during the sequential folding and contact.
