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<p>Origami actuators are favored in soft robotics for their tunable mechanical properties and modularity. Despite this modularity, the majority of soft origami robots are composed of single-dimension stacks, yet other arrangements of origami structures yield novel crawlers, arms, and other robots. In this work, we model and fabricate multiple arrangements of the Kresling pattern to form joints, then assemble these joints into a robot arm with three rotational and one translational degrees of freedom. Using feedback control, we achieve less than 5 mm error for trajectories in two dimensions and sub-10 mm error for trajectories in three dimensions. We demonstrate the arm’s potential to complete a range of everyday tasks by gripping and manipulating whiteboard markers and tools with mass up to 680 g. We conclude by completing two cooking-related tasks that demonstrate the arm’s rotational motions.</p>

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A 3D-printed, multi-degree of freedom soft origami robot arm

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2026年6月16日

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  • Immanuel Ampomah Mensah,
  • Owen Lewis,
  • Joseph Allen,
  • Ahilesh Vadivel,
  • Celina Wu,
  • Andrea Lacunza,
  • Nathaniel Hanson,
  • Kristen L. Dorsey

摘要

Origami actuators are favored in soft robotics for their tunable mechanical properties and modularity. Despite this modularity, the majority of soft origami robots are composed of single-dimension stacks, yet other arrangements of origami structures yield novel crawlers, arms, and other robots. In this work, we model and fabricate multiple arrangements of the Kresling pattern to form joints, then assemble these joints into a robot arm with three rotational and one translational degrees of freedom. Using feedback control, we achieve less than 5 mm error for trajectories in two dimensions and sub-10 mm error for trajectories in three dimensions. We demonstrate the arm’s potential to complete a range of everyday tasks by gripping and manipulating whiteboard markers and tools with mass up to 680 g. We conclude by completing two cooking-related tasks that demonstrate the arm’s rotational motions.