Cut-paper gripper

Abstract

Provided is a cut-paper gripper capable of continuously gripping an object even when the cut-paper gripper is released from an external force. A cut-paper gripper 11 is formed from one sheet. A first grip piece 13 is contiguous with a first connecting piece 16 and a second connecting piece 22 via hinge pieces 15, 21. A second grip piece 14 is contiguous with the first connecting piece 16 and the second connecting piece 22 via hinge pieces 17, 23. When subjected to an external force F, a first drive piece 25 generates relative displacement of the first grip piece 13 relative to the first connecting piece 16 and the second connecting piece 22, in response to elastic deformation of the hinge pieces 15, 21. When subjected to the external force F, a second drive piece 28 generates relative displacement of the second grip piece 14 relative to the first connecting piece 16 and the second connecting piece 22, in response to elastic deformation of the hinge pieces 17, 23. When the external force F is released, the first grip piece 13 and the second grip piece 14 continuously grip the object.

Description

Kirigami Gripper

[0001] The present invention relates to a kirigami gripper.

[0002] Patent Document 1 discloses a kirigami gripper formed from a single sheet. The kirigami gripper separates left and right half packets with two central notches arranged in series on a straight line. The left and right half packets are connected to each other by three connecting areas formed by the two central notches. A line of force action is set perpendicular to the line of the central notches. The central connecting area is located on the line of force action.

[0003] A drive piece is connected to each half of the envelope on the line of force action. Each drive piece is connected to the corresponding half of the envelope by two connecting pieces located at both ends of an auxiliary notch extending parallel to the central notch. Since both connecting pieces are away from the line of force action, when a pulling force acting on the two drive pieces to move them away from each other on the line of force action, the connecting pieces of each drive piece move closer to each other. The left and right half of the envelope curve to enclose the space. An object can be grasped within the enclosed space.

[0004] US Patent No. 10933539 JP 2020-47818 A

[0005] Yi Yang et al., “Grasping with kirigami shells”, SCIENCE ROBOTICS, 6, eabd6426, USA, May 12, 2021

[0006] When the driving piece is released from the pulling force, the Kirigami gripper returns to its original shape due to its elastic restoring force. Therefore, the object cannot be continuously gripped unless the pulling force is maintained. Power is constantly required to maintain the grip.

[0007] The present invention aims to provide a kirigami gripper that can continue to grip an object even when released from an external force.

[0008] A paper-cutting gripper according to one aspect of the present invention is a paper-cutting gripper formed from a single sheet, and includes a first gripping piece and a second gripping piece that are separated from each other by a single first notch, a first connecting piece that is separated from the first gripping piece and the second gripping piece by a single second notch that intersects with the first notch and continues to the first gripping piece and the second gripping piece with hinge pieces located at both ends of the second notch, and a third notch that is separated from the first gripping piece and the second gripping piece by a single third notch that intersects with the first notch and a second connecting piece that is a hinge piece that is connected to the first gripping piece and the second gripping piece; a first driving piece that is connected to the first gripping piece and is located farther from the first notch than the hinge piece, and that generates a relative displacement of the first gripping piece with respect to the first connecting piece and the second connecting piece in accordance with elastic deformation of the hinge piece when an external force is applied; and a second driving piece that is connected to the second gripping piece and is located farther from the first notch than the hinge piece, and that generates a relative displacement of the second gripping piece with respect to the first connecting piece and the second connecting piece in accordance with elastic deformation of the hinge piece when an external force is applied.

[0009] A paper-cutting gripper according to one aspect of the present invention is a paper-cutting gripper formed from a single sheet, comprising: a first gripping piece and a second gripping piece that are separated from each other at a first notch; a first connecting piece that is separated from the first gripping piece and the second gripping piece at a second notch adjacent to one end of the first notch and continues to the first gripping piece and the second gripping piece at hinge pieces located at both ends of the second notch; and a third notch that is separated from the first gripping piece and the second gripping piece at a third notch adjacent to the other end of the first notch and continues to the third notch. a second connecting piece connected to the first gripping piece and the second gripping piece by hinge pieces located at both ends of the sheet; a first drive unit connected to the first gripping piece and configured to generate a relative displacement of the first gripping piece with respect to the first connecting piece and the second connecting piece in response to elastic deformation of the sheet when an external force is applied; and a second drive unit connected to the second gripping piece and configured to generate a relative displacement of the second gripping piece with respect to the first connecting piece and the second connecting piece in response to elastic deformation of the sheet when an external force is applied, so that the gripping state between the first gripping piece and the second gripping piece is maintained even when the external force is released.

[0010] As described above, according to one aspect of the present invention, a kirigami gripper can be provided that can continue to grip an object even when released from an external force.

[0011] 5A is a perspective view schematically showing the structure of a kirigami gripper according to an embodiment of the present invention; FIG. 5B is a plan view of a sheet forming a kirigami gripper having a first notch according to a second modification; FIG. 5C is a plan view of a sheet forming a kirigami gripper having a first notch according to a third modification; FIG. 6A is a plan view of a sheet forming a kirigami gripper having a second notch according to a first modification; FIG. 6B is a plan view of a sheet forming a kirigami gripper having a second notch according to a second modification; and FIG. 6C is a plan view of a sheet forming a kirigami gripper having a second notch according to a third modification. 5B is a plan view of a sheet forming a kirigami gripper having a second notch according to a third modification; and FIG. 6C is a plan view of a sheet including kirigami grippers arranged in a matrix. 1 is a conceptual diagram of a kirigami gripper including a first gripping piece and a second gripping piece with added fold lines, FIG. 2 is a conceptual diagram showing a specific example of a kirigami gripper made of a fluid absorber, and FIG. 3 is a conceptual diagram of a kirigami gripper having microneedles installed on the first gripping piece or the second gripping piece.

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0013] FIG. 1 schematically illustrates the structure of a paper-cutting gripper 11 according to an embodiment of the present invention. The paper-cutting gripper 11 comprises a first gripping piece 13 and a second gripping piece 14 that are separated from each other by a first notch 12. The first notch 12 extends in a straight line. The first gripping piece 13 is connected to a first connecting piece 16 by a first hinge piece 15. The first gripping piece 13, first hinge piece 15, and first connecting piece 16 are continuous. The second gripping piece 14 is connected to the first connecting piece 16 by a second hinge piece 17. The second gripping piece 14, second hinge piece 17, and first connecting piece 16 are continuous. The first gripping piece 13 and second gripping piece 14 are separated from the first connecting piece 16 by a second notch 18. The second notch 18 intersects the first notch 12 at one end. The second cut 18 extends in a straight line. Here, the intersection angle between the second cut 18 and the first cut 12 is set to 90 degrees. In this example, the second cut 18 intersects with the first cut 12 at one end of the first cut 12 in a T-shape, and the second cut 18 contacts one end of the first cut 12. The first hinge piece 15 and the second hinge piece 17 are located at both ends of the second cut 18.

[0014] The first gripping piece 13 is connected to the second connecting piece 22 by a third hinge piece 21. The first gripping piece 13, the third hinge piece 21, and the second connecting piece 22 are continuous. The second gripping piece 14 is connected to the second connecting piece 22 by a fourth hinge piece 23. The second gripping piece 14, the fourth hinge piece 23, and the second connecting piece 22 are continuous. The first gripping piece 13 and the second gripping piece 14 are separated from the second connecting piece 22 by a third notch 24. The third notch 24 intersects with the first notch 12 at the other end of the first notch 12. The third notch 24 extends in a straight line. Here, the intersection angle between the third notch 24 and the first notch 12 is set to 90 degrees. In this example, the third notch 24 intersects the first notch 12 at the other end of the first notch 12 in a T-shape, and the second notch 18 abuts one end of the first notch 12. The third hinge piece 21 and the fourth hinge piece 23 are located at both ends of the third notch 24.

[0015] A first drive piece (first drive unit) 25 is connected to the first gripping piece 13 and is positioned farther from the first notch 12 than the first hinge piece 15 and the third hinge piece 21. The first drive piece 25 is continuous with the first gripping piece 13. When an external force acts on the first drive piece 25, the first gripping piece 13 is displaced in response to elastic deformation of the first hinge piece 15 and the third hinge piece 21. The first gripping piece 13 can be displaced relative to the first connecting piece 16 and the second connecting piece 22 around the first hinge piece 15 and the third hinge piece 21. The first drive piece 25 is separated from the first hinge piece 15 at the fourth notch 26 and from the third hinge piece 21 at the fifth notch 27. As shown in FIG. 2 , the fourth notch 26 and the fifth notch 27 each reach the outer edge of the sheet. The transmission of force from the first driving piece 25 to the first connecting piece 16 and the second connecting piece 22 can be avoided.

[0016] A second drive piece (second drive unit) 28 is connected to the second gripping piece 14. The second drive piece 28 is located farther from the first notch 12 than the second hinge piece 17 and the fourth hinge piece 23. The second drive piece 28 is continuous with the second gripping piece 14. When an external force acts on the second drive piece 28, the second gripping piece 14 is displaced in response to elastic deformation of the second hinge piece 17 and the fourth hinge piece 23. The second gripping piece 14 can be displaced relative to the first connecting piece 16 and the second connecting piece 22 around the second hinge piece 17 and the fourth hinge piece 23. The second drive piece 28 is separated from the second hinge piece 17 at a sixth notch 29 and from the fourth hinge piece 23 at a seventh notch 31. The sixth notch 29 and the seventh notch 31 each extend to the outer edge of the sheet. It is possible to prevent transmission of force from the second driving piece 28 to the first connecting piece 16 and the second connecting piece 22. The first driving piece 25 may be located at the same position or closer to the first notch 12 relative to the first hinge piece 15 and the third hinge piece 21, and the second driving piece 28 may be located at the same position or closer to the first notch 12 relative to the second hinge piece 17 and the fourth hinge piece 23.

[0017] Here, the fourth incision 26 and the fifth incision 27 each have a first cutting zone extending from the edge of the sheet parallel to the first incision 12, and a second cutting zone continuing from the first cutting zone and extending parallel to each other between the second incision 18 and the third incision 24 toward the first incision 12. The spacing P between the second cutting zones can be adjusted depending on the size of the object to be gripped. The rigidity of the first gripping piece 13 can be adjusted depending on the distance H between the second cutting zone and the first incision 12. The gripping force can be adjusted depending on the ratio of the width W of the first gripping piece 13 (in the linear direction of the first incision 12) to the spacing P between the second cutting zones. Similarly, the sixth incision 29 and the seventh incision 31 each have a first cutting area extending from the edge of the sheet parallel to the first incision 12, and a second cutting area continuing from the first cutting area and extending parallel to each other between the second incision 18 and the third incision 24 toward the first incision 12.

[0018] As is clear from FIG. 2 , the kirigami gripper 11 is formed from a single sheet 33. The sheet 33 can be molded from metal, plastic, or the like having a rigidity determined depending on the application. Cuts 12, 18, 24, 26, 27, 29, and 31 are made in the sheet 33 according to a predetermined pattern. A laser cutter or other tool can be used to form the cuts. The pattern is set symmetrically with respect to a first reference plane 34. The behavior of the first gripping piece 13 and the second gripping piece 14 can be realized symmetrically with respect to the first reference plane 34. The pattern is set symmetrically with respect to a second reference plane 35 that is perpendicular to the first reference plane 34. As a result, when the first gripping piece 13 is displaced, the first gripping piece 13 can maintain a position parallel to the first reference plane 34. Similarly, when the second gripping piece 14 is displaced, the second gripping piece 14 can maintain a position parallel to the first reference plane 34.

[0019] Next, the operation of the paper-cut gripper 11 will be described. As shown in Figure 3, when an external force F is applied to the first driving piece 25 toward the first reference plane 34 parallel to a line of action perpendicular to the first reference plane 34, the first driving piece 25 is displaced toward the first reference plane 34. When an external force F is applied to the second driving piece 28 toward the first reference plane 34 parallel to a line of action perpendicular to the first reference plane 34, the second driving piece 28 is displaced toward the first reference plane 34. The first driving piece 25 and the second driving piece 28 move closer to each other.

[0020] The displacement of the first driving piece 25 causes elastic deformation of the sheet 33, in this case the first hinge piece 15 and the third hinge piece 21. A relative displacement of the first gripping piece 13 is generated with respect to the first connecting piece 16 and the second connecting piece 22. Because the first driving piece 25 is positioned farther from the first notch 12 than the first hinge piece 15 and the third hinge piece 21, the first gripping piece 13 moves away from the first reference plane 34 in response to the action of the external force F. Similarly, the displacement of the second driving piece 28 causes elastic deformation of the sheet 33, in this case the second hinge piece 17 and the fourth hinge piece 23. A relative displacement of the second gripping piece 14 is generated with respect to the first connecting piece 16 and the second connecting piece 22. Because the second drive piece 28 is positioned farther from the first notch 12 than the second hinge piece 17 and the fourth hinge piece 23, the second gripping piece 14 moves away from the first reference plane 34 in response to the action of external force F. In this way, the first gripping piece 13 and the second gripping piece 14 move away from each other. The first notch 12 widens. An object can enter the gap between the first gripping piece 13 and the second gripping piece 14. Because the paper-cut gripper 11 is originally formed from a single sheet 33, an elastic restoring force that returns the paper-cut gripper 11 to its original shape in response to the action of external force F is accumulated in the paper-cut gripper 11.

[0021] When the first driving piece 25 and the second driving piece 28 are released from the external force F, the accumulated elastic restoring force acts on the paper-cut gripper 11. Relative displacement of the first gripping piece 13 with respect to the first connecting piece 16 and the second connecting piece 22 is generated in response to the elastic restoring force of the first hinge piece 15 and the third hinge piece 21. The first gripping piece 13 approaches the first reference plane 34. Similarly, relative displacement of the second gripping piece 14 with respect to the first connecting piece 16 and the second connecting piece 22 is generated in response to the elastic restoring force of the second hinge piece 17 and the fourth hinge piece 23. The second gripping piece 14 approaches the first reference plane 34. In this way, the first gripping piece 13 and the second gripping piece 14 approach each other with the first notch 12 between them. The object is clamped between the first gripping piece 13 and the second gripping piece 14. The spacing of the first notches 12 cannot be reduced to the initial value due to the influence of the trapped object, and therefore the elastic restoring forces of the hinge pieces 15, 21, 17, and 23 cannot be completely released. The object can be held between the first gripping piece 13 and the second gripping piece 14 according to the elastic restoring forces of the hinge pieces 15, 21, 17, and 23.

[0022] In this embodiment, the first drive piece 25 extends parallel to each other between the second notch 18 and the third notch 24 and is separated from the first hinge piece 15 and the third hinge piece 21 at the fourth notch 26 and the fifth notch 27, which reach the outer edge of the sheet 33. The displacement of the first drive piece 25 can be transmitted to the first gripping piece 13 without resistance from the first hinge piece 15 and the third hinge piece 21. The first gripping piece 13 can be driven efficiently. Similarly, the second drive piece 28 extends parallel to each other between the second notch 18 and the third notch 24 and is separated from the second hinge piece 17 and the fourth hinge piece 23 at the sixth notch 29 and the seventh notch 31, which reach the outer edge of the sheet 33. The displacement of the second drive piece 28 can be transmitted to the second gripping piece 14 without resistance from the second hinge piece 17 and the fourth hinge piece 23. The second gripping piece 14 can be driven efficiently.

[0023] As shown in FIG. 4 , the kirigami gripper 41 may include a power source 42 that generates a driving force in response to the supply of a control signal. The driving force moves the first driving piece 25 and the second driving piece 28 closer to each other. When a control signal is supplied to the power source 42, the first driving piece 25 and the second driving piece 28 move closer to each other in response to the elastic deformation of the hinge pieces 15, 17, 21, and 23. The first gripping piece 13 and the second gripping piece 14 move away from each other. An object can enter the gap between the first gripping piece 13 and the second gripping piece 14. In this way, the gripping operation of the kirigami gripper 41 can be controlled. Other configurations of the kirigami gripper 41 are similar to those of the kirigami gripper 11 described above.

[0024] Here, the power source 42 includes a spring 43 connected to the first drive piece 25 and the second drive piece 28. The spring 43 is formed of a shape memory alloy. To connect the spring 43, a through hole 44 is formed in each of the first drive piece 25 and the second drive piece 28 to receive the wire of the spring 43. The spring 43 is shaped to prevent the wire from slipping out of the through hole 44. A slit 45 extending from the outer edge of the first drive piece 25 or the second drive piece 28 is connected to the through hole 44. The wire of the spring 43 can be guided by the slit 45 from the outer edge of the first drive piece 25 or the second drive piece 28 and enter the through hole 44.

[0025] A power source 46 is connected to the spring 43. The power source 46 supplies current to the spring 43 between the first drive piece 25 and the second drive piece 28. Here, the current functions as a control signal. Heat is generated in the spring 43 in response to the supplied power. The spring 43 returns to its original shape when heated above a predetermined temperature. The spring 43 contracts most from its original shape. Therefore, when current is supplied to the spring 43, the first drive piece 25 and the second drive piece 28 are closest to each other. The spring 43 maintains its elasticity below a predetermined temperature. Thus, when the kirigami gripper 41 is released from the restraint of the spring 43, the object can be held between the first gripping piece 13 and the second gripping piece 14 according to the elastic restoring force of the hinge pieces 15, 21, 17, and 23. The elasticity of the spring 43 is set to be smaller than the elastic restoring force of the hinge pieces 15, 21, 17, and 23.

[0026] The heat-shrinkable member serving as the power source 42 may be, for example, a heat-shrinkable polymer, in addition to the spring 43 made of a shape memory alloy. The power source 42 may also be an electromagnetic motor, a piezoelectric actuator, a magnetic drive, or the like, which is operated by something other than heat.

[0027] In the kirigami grippers 11, 41, the contact configuration between the object and the first gripping piece 13 and the second gripping piece 14 can be set depending on the shape of the first incision 12. For example, as shown in FIG. 5A, when the first incision 12 is formed in a zigzag pattern, a row of continuous triangular jagged teeth can be formed. The apexes of the triangles dig into the object, allowing the first gripping piece 13 and the second gripping piece 14 to firmly grasp the object. For example, as shown in FIG. 5B, when the first incision 12 is formed on an inclined line with respect to the first reference plane 34, the object can be gripped in an inclined position with respect to the line of force action. For example, as shown in FIG. 5C, when the first incision 12 is integrated with the entire area of ​​the second incision 18 or the third incision 24, the first gripping piece 13 and the second gripping piece 14 can form a single apex that abuts against each other.

[0028] 5C can be seen as a configuration in which the first gripping piece 13 and the second gripping piece 14 are separated from each other by a single first notch 12 whose notch width varies, or as a configuration in which the first gripping piece 13 and the second gripping piece 14 are separated from each other by a plurality of first notches 12. In the case of a plurality of first notches 12, they can also be seen as two intersecting first notches 12, or as two V-shaped first notches 12 bent at the vertices where the first gripping piece 13 and the second gripping piece 14 butt against each other. Furthermore, because the first notch 12 separates the first gripping piece 13 and the second gripping piece 14 from each other, a gap (gap) may be formed between the first gripping piece 13 and the second gripping piece 14 formed by the first notch 12.

[0029] In the paper grippers 11, 41, the second notch 18 and the third notch 24 may be drawn in a curved line. For example, as shown in FIG. 6A , the first connecting piece 16 and the second connecting piece 22 may narrow as they move away from the first reference plane 34. Here, the fourth notch 26 and the sixth notch 29 may be drawn in a curved line following the second notch 18. The fifth notch 27 and the seventh notch 31 may be drawn in a curved line following the third notch 24. For example, as shown in FIG. 6B , the first connecting piece 16 and the second connecting piece 22 may widen as they move away from the first reference plane 34. Here, the fourth notch 26 and the sixth notch 29 may be drawn in a curved line around the second notch 18. The fifth notch 27 and the seventh notch 31 may be drawn in a curved line around the third notch 24. 6C , for example, a notch continuing from the second notch 18 or the third notch 24 may be added to both ends of the second notch 18 and the third notch 24. A notch 54 continuing from the fourth notch 26, the fifth notch 27, the sixth notch 29, or the seventh notch 31 may be added to one end of the fourth notch 26, the fifth notch 27, the sixth notch 29, or the seventh notch 31.

[0030] As shown in Fig. 7, the kirigami grippers 11, 41 may be arranged in a matrix on one sheet 55. In this case, a plurality of first reference planes 34 are set parallel to one another at specific intervals on one sheet 55. The first notches 12 are aligned with the individual first reference planes 34. Adjacent kirigami grippers 11, 41 share the first connecting piece 16 and the second connecting piece 22.

[0031] As shown in FIG. 8A , fold lines 56 may be added to the first gripping piece 13 and the second gripping piece 14. Here, the mountain fold lines are set from the intersection of the first notch 12 and the second notch 18 toward one end of the fourth notch 26 and one end of the sixth notch 29, respectively. The mountain fold lines are set from the intersection of the first notch 12 and the third notch 24 toward one end of the fifth notch 27 and one end of the seventh notch 31, respectively. As a result, as shown in FIG. 8B , the first gripping piece 13 and the second gripping piece 14 can be set into a specific shape. The distance between the first gripping piece 13 and the second gripping piece 14 decreases as the distance from the second reference plane 35 increases. Alternatively, the mountain fold lines may be set parallel to the first notch 12 on the first gripping piece 13 and the second gripping piece 14. When mountain folds are formed at the tips of the first gripping piece 13 and the second gripping piece 14, the first gripping piece 13 and the second gripping piece 14 can come into contact with the object on their surfaces.

[0032] The kirigami gripper 11 can be formed, for example, from a soluble material. For example, in the kirigami gripper 61, a drug (which may be solid, liquid, or powder) is kneaded into hyaluronic acid. Such a kirigami gripper 61 can be attached to human tissue, for example, as shown in FIG. 9 . When the external force acting on the first driving piece 25 and the second driving piece 28 is released, the first gripping piece 13 and the second gripping piece 14 can clamp the human tissue. In this way, the kirigami gripper 61 can be held on the surface of the tissue. The hyaluronic acid and drug can be gradually released from the kirigami gripper 61. Alternatively, the kirigami gripper 61 may be formed from an absorbent material that absorbs fluids. In the kirigami gripper 61, a fluid drug can be absorbed into a porous film or paper. When the kirigami gripper 61 is held on the surface of the tissue, the drug can seep out of the absorbent material at a predetermined flow rate. 10, a microneedle 62 may be provided on the first gripping piece 13 and the second gripping piece 14. The microneedle 62 can protrude from the tip of the first gripping piece 13 or the second gripping piece 14. When the first gripping piece 13 and the second gripping piece 14 close together, the microneedle 62 can pierce human tissue.

[0033] 11 Paper-cutting gripper 12 First notch 13 First gripping piece 14 Second gripping piece 15 Hinge piece (first hinge piece) 16 First connecting piece 17 Hinge piece (second hinge piece) 18 Second notch 21 Hinge piece (third hinge piece) 22 Second connecting piece 23 Hinge piece (fourth hinge piece) 24 Third notch 25 First driving piece 26 Notch (fourth notch) 27 Notch (fifth notch) 28 Second driving piece 29 Notch (sixth notch) 31 Notch (seventh notch) 33 Sheet 41 Paper-cutting gripper 61 Paper-cutting gripper

Claims

1. A paper gripper formed from a single sheet, comprising: a first gripping piece and a second gripping piece separated from each other by a first notch; a first connecting piece separated from the first gripping piece and the second gripping piece by a second notch intersecting the first notch, and connected to the first gripping piece and the second gripping piece by hinge pieces located at both ends of the second notch; a second connecting piece separated from the first gripping piece and the second gripping piece by a third notch intersecting the first notch, and connected to the first gripping piece and the second gripping piece by hinge pieces located at both ends of the third notch; and a first driving piece connected to the first gripping piece and located farther from the first notch than the hinge piece, which generates a relative displacement of the first gripping piece with respect to the first connecting piece and the second connecting piece in response to elastic deformation of the hinge piece when subjected to an external force. A paper-cutting gripper comprising: a second drive piece that is continuous with the second gripping piece and is positioned farther from the first notch than the hinge piece, and that generates a relative displacement of the second gripping piece with respect to the first connecting piece and the second connecting piece in response to elastic deformation of the hinge piece when subjected to an external force.

2. The kirigami gripper according to claim 1, further comprising a power source that generates a driving force that moves the first driving piece and the second driving piece toward each other in response to a control signal.

3. The kirigami gripper according to claim 2, wherein the power source is a shape memory alloy connected to the first driving piece and the second driving piece, and returns to its original shape in response to heat generated based on the supplied power.

4. A kirigami gripper as described in claim 1, wherein the first drive piece is separated from the hinge piece at a notch that extends parallel to each other between the second notch and the third notch and reaches the outer edge of the sheet, and the second drive piece is separated from the hinge piece at a notch that extends parallel to each other between the second notch and the third notch and reaches the outer edge of the sheet.

5. A paper gripper formed from a single sheet, comprising: a first gripping piece and a second gripping piece separated from each other by a first notch; a first connecting piece separated from the first gripping piece and the second gripping piece by a second notch abutting one end of the first notch, and connected to the first gripping piece and the second gripping piece by hinge pieces located at both ends of the second notch; a second connecting piece separated from the first gripping piece and the second gripping piece by a third notch abutting the other end of the first notch, and connected to the first gripping piece and the second gripping piece by hinge pieces located at both ends of the third notch; and a first drive unit connected to the first gripping piece, which generates a relative displacement of the first gripping piece with respect to the first connecting piece and the second connecting piece in response to elastic deformation of the sheet when an external force is applied. a second drive unit connected to the second gripping piece and generating a relative displacement of the second gripping piece with respect to the first connecting piece and the second connecting piece in response to elastic deformation of the sheet when an external force is applied, wherein the paper gripper maintains the gripping state between the first gripping piece and the second gripping piece even when the external force is released.

6. The kirigami gripper according to claim 5, further comprising a power source that generates a driving force that moves the first driving unit and the second driving unit toward each other in response to a control signal.

7. The kirigami gripper according to claim 6, wherein the power source is a heat-shrinkable member connected to the first drive unit and the second drive unit, and returns to its original shape in response to heat generated by the supplied power.

8. The kirigami gripper according to claim 6, wherein the power source is a shape memory alloy that is connected to the first drive unit and the second drive unit and returns to its original shape in response to heat generated based on the supplied power.

9. A kirigami gripper as described in claim 5, wherein the first drive unit is separated from the hinge piece by a notch that extends parallel to each other between the second notch and the third notch and reaches the outer edge of the sheet, and the second drive unit is separated from the hinge piece by a notch that extends parallel to each other between the second notch and the third notch and reaches the outer edge of the sheet.

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