KnitSkin: Machine-Knitted Scaled Skin for Locomotion

Abstract

We present KnitSkin, a bio-inspired sleeve that can traverse diverse cylindrical terrains, ranging from a user’s forearm at a wearable scale, to pipes and tree branches at an environmental scale. Fabricated with a machine knitted substrate, the sleeve configures a stepped array of knitted scales that exhibit anisotropic friction. Coupled with the extension of actuators enclosed in the sleeve, the scales enable effective directional locomotion on cylindrical surfaces with varying slopes, textures, and curvatures. KnitSkin’s substrates are characterized by scales whose geometries and materials can be fine-tuned and channels that can accommodate diverse actuators. We introduce the design elements of KnitSkin in which we characterize a series of substrate parameters and their resulting anisotropic behaviors. In evaluating the locomotion, we examine the variables associated with the surface and actuator characteristics. KnitSkin obtains diverse applications across different scales, including wearable interfaces, industrial pipe-monitoring, to agricultural robots.