Problem
Research questions and friction points this paper is trying to address.
soft robot actuators
uncontrolled deformations
accuracy
multi-degree-of-freedom systems
One Print, Many Moves: Monolithic Origami-inspired Folding Actuator for Composable Soft Multi-DoF Systems
🤖 AI Summary
该研究通过引入一种基于折纸灵感的单片折叠执行器设计（MONORIGAMI），解决了软体机器人在多自由度系统中精度和可扩展性的问题。
📝 Abstract
Conventional soft robot actuators excel in compliance, but their uncontrolled deformations compromise accuracy and hinder scaling to multi-degree-of-freedom (DoF) systems. We introduce a MONOlithic ORIGAMI-inspired soft folding actuator design (MONORIGAMI) that establishes a design strategy based on spatially programmed stiffness anisotropy to preserve material compliance along desired folding directions while selectively restricting deformation in unwanted directions. The actuator leverages stiffness tiers based on material thickness, patterned in an origami-inspired geometry with facets and creases, converting unconstrained soft deformation into accurate, repeatable, and composable folding motions without additional reinforcements. The design is fully 3D-printable through a single-material, single-print process that requires no assembly. Each actuator serves as a scalable motion primitive, and linking and orienting multiple actuators mechanically programs multi-DoF trajectories. Using the same fundamental module, we demonstrate three 3D-printed soft multi-DoF robotic systems spanning distinct application domains: (1) a compact 4-DoF wearable haptic device for high-fidelity cutaneous feedback in virtual reality (VR), (2) a 3-DoF joystick for kinesthetic feedback in teleoperation, and (3) a modular robotic gripper capable of underwater operation with geometry-encoded grasp trajectories. These systems demonstrate the module's capabilities for compact multi-axis integration, controlled physical interaction, and geometry-programmed operation across different environments. Together, these results show that MONORIGAMI provides a general, composable, accessible, reliable, and scalable platform for high-precision soft multi-DoF robotics, addressing long-standing limitations in both soft actuator design and fabrication.
Innovation
Methods, ideas, or system contributions that make the work stand out.
MONORIGAMI
stiffness anisotropy
3D-printable
multi-DoF systems
origami-inspired
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