OpenAlex ·
One Print, Many Moves: Monolithic Origami-inspired Folding Actuator for Composable Soft Multi-DoF Systems
- Published
- Source
- OpenAlex
- DOI
- 10.48550/arxiv.2609.00751
- Original
- Read it at the publisher
- Topics
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.
The authors’ abstract, as arXiv lists it. arXiv’s listings, abstracts included, are free for anyone to reuse.
Read it on ReadSearch
Each opens after you create an account, and brings you back to this paper.
More in Systems & Control
Direct Optimization of a 3D Finite-Source Reflector via Neural-Network Parameterization
Plasmon modes in tilted three-dimensional nodal-ring semimetals. I. $\mathcal{PT}$-symmetric nodal ring and its gapped cousin
Plasmon modes in tilted three-dimensional nodal-ring semimetals. II. Vortex nodal ring
Analog-DB: An Agent-First Analog Integrated Circuit Database, From Blocks to Systems
Plasmon modes in three-dimensional multifold semimetals. I. Triple-point semimetal, its quadratic cousin, and Hopf semimetal
Get the few papers worth your time in Systems & Control every morning.
ReadSearch reads the new papers in your field each day and brings you the few worth reading, each with its key finding in a sentence.