Abstract
In this letter, a novel cable-driven soft origami multimodal actuator is proposed. The proposed actuator comprises multiple origamis based on the Yoshimura pattern. The origami-based actuator performs both linear and bending motion by exploiting the unique folding state of the origami structure using a simple motor-cable system. The impact force and position of the tip on the actuator are experimentally demonstrated, and the results are compared with mathematical models using folding mechanics. In the multi-modal origami structure, the actuator obtains high impact force, large bending angle, and large workspace with small size. To validate its performance, a pinch gripper with wide grasping range is also developed using a combination of the actuators.
Original language | English |
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Pages (from-to) | 151-158 |
Number of pages | 8 |
Journal | IEEE Robotics and Automation Letters |
Volume | 9 |
Issue number | 1 |
DOIs | |
Publication status | Published - 2024 Jan 1 |
Bibliographical note
Publisher Copyright:© 2016 IEEE.
Keywords
- Origami actuator
- actuator kinematics
- actuator mechanics
- cable-driven actuator
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