Design and Analysis of Origami-Based Multimodal Actuator Capable of Linear and Bending Motion

Seunghoon Yoo, Jinho Kim, Jungwoo Park, Youngsu Cha

Research output: Contribution to journalArticlepeer-review


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 languageEnglish
Pages (from-to)151-158
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number1
Publication statusPublished - 2024 Jan 1

Bibliographical note

Publisher Copyright:
© 2016 IEEE.


  • actuator kinematics
  • actuator mechanics
  • cable-driven actuator
  • Origami 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


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