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DuoMorph: Synergistic Integration of FDM Printing and Pneumatic Actuation for Shape-Changing Interfaces

Xueqing Li, Danqi huang, Tianyu Yu, Shuzi Yin, Bingjie Gao, Anna Matsumoto, Zhihao Yao, Yiwei Zhao, Shiqing Lyu, Yuchen Tian, Lining Yao, Haipeng Mi, Qiuyu Lu

Abstract

We introduce DuoMorph, a design and fabrication method that synergistically integrates Fused Deposition Modeling (FDM) printing and pneumatic actuation to create novel shape-changing interfaces. In DuoMorph, the printed structures and heat-sealed pneumatic elements are mutually designed to actuate and constrain each other, enabling functions that are difficult for either component to achieve in isolation. Moreover, the entire hybrid structure can be fabricated through a single, seamless process using only a standard FDM printer, including both heat-sealing and 3D and 4D printing. In this paper, we define a design space including four primitive categories that capture the fundamental ways in which printed and pneumatic components can interact. To support this process, we present a fabrication method and an accompanying design tool. Finally, we demonstrate the potential of DuoMorph through a series of example applications and performance demonstrations.

DuoMorph: Synergistic Integration of FDM Printing and Pneumatic Actuation for Shape-Changing Interfaces

Abstract

We introduce DuoMorph, a design and fabrication method that synergistically integrates Fused Deposition Modeling (FDM) printing and pneumatic actuation to create novel shape-changing interfaces. In DuoMorph, the printed structures and heat-sealed pneumatic elements are mutually designed to actuate and constrain each other, enabling functions that are difficult for either component to achieve in isolation. Moreover, the entire hybrid structure can be fabricated through a single, seamless process using only a standard FDM printer, including both heat-sealing and 3D and 4D printing. In this paper, we define a design space including four primitive categories that capture the fundamental ways in which printed and pneumatic components can interact. To support this process, we present a fabrication method and an accompanying design tool. Finally, we demonstrate the potential of DuoMorph through a series of example applications and performance demonstrations.
Paper Structure (31 sections, 23 figures)

This paper contains 31 sections, 23 figures.

Table of Contents

  1. Introduction
  2. Related Works
  3. Design Space
  4. Passive Deformation Structure
  5. Constraining Structure
  6. Pre-shaping Structure
  7. Function-Extending Structure
  8. Fabrication
  9. Walkthrough
  10. Digital Design
  11. Heat Sealing Materials and Settings
  12. Material Selection
  13. Heat-sealing Process (Fig. \ref{['fig:fab_film_setting']})
  14. FDM Printing Filaments and Settings
  15. Filament Selection
  16. ...and 16 more sections

Figures (23)

  • Figure 1: The four-dimensional design space of DuoMorph, categorized based on how the printed structures (black) would interact with the pneumatic actuators (gray) .
  • Figure 2: Example printed passive structure. The structures are actuated (a) simultaneously, (b) asynchronously, and (c) toward different directions by the airbags.
  • Figure 3: Example printed constraint structures that can control how the airbags deform when inflated include: (a) structures that allow tuning of the bending angle, (b) patterns that change or reverse the bending direction, and (c) connectors that enable assembling multiple airbags into more complex configurations.
  • Figure 4: Example 4D printed pre-shaping structures that can preshape the airbags. When heated, the primitives (a) Bend toward the printed structure side (concave bending); (b) Bend toward the other side (convex bending); (c,d) Deform to complex shapes.
  • Figure 5: Example printed enabling structures that extend the capabilities of pneumatic actuators beyond deformation: (a) adding sensing capability, (b) tuning surface friction.
  • ...and 18 more figures