Printed Paper Robot Driven by Electrostatic Actuator

Hiroki Shigemune, Shingo Maeda, Vito Cacucciolo, Yoshitaka Iwata, Eiji Iwase, Shuji Hashimoto, Shigeki Sugano

Research output: Contribution to journalArticlepeer-review

35 Citations (Scopus)


Effective design and fabrication of 3-D electronic circuits are among the most pressing issues for future engineering. Although a variety of flexible devices have been developed, most of them are still designed two-dimensionally. In this letter, we introduce a novel idea to fabricate a 3-D wiring board. We produced the 3-D wiring board from one desktop inkjet printer by printing conductive pattern and a 2-D pattern to induce self-folding. We printed silver ink onto a paper to realize the conductive trace. Meanwhile, a 3-D structure was constructed with self-folding induced by water-based ink printed from the same printer. The paper with the silver ink self-folds along the printed line. The printed silver ink is sufficiently thin to be flexible. Even if the silver ink is already printed, the paper can self-fold or self-bend to consist the 3-D wiring board. A paper scratch driven robot was developed using this method. The robot traveled 56 mm in 15 s according to the vibration induced by the electrostatic force of the printed electrode. The size of the robot is 30 × 15 × 10 mm. This work proposes a new method to design 3-D wiring board, and shows extended possibilities for printed paper mechatronics.

Original languageEnglish
Article number7833177
Pages (from-to)1001-1007
Number of pages7
JournalIEEE Robotics and Automation Letters
Issue number2
Publication statusPublished - 2017 Apr


  • Additive manufacturing
  • assembly
  • papermechatronics
  • self-folding robot
  • soft material robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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