Origami-inspired soft twisting actuator
Diancheng Li, Dongliang Fan, Renjie Zhu, Qiaozhi Lei, Yuxuan Liao, Xin, Yang, Yang Pan, Zheng Wang, Yang Wu, Sicong Liu, Hongqiang Wang

TL;DR
This paper introduces origami-inspired soft pneumatic actuators made from silicone that can produce significant torsional motion, enabling advanced manipulation tasks in soft robotics.
Contribution
It presents a novel design, fabrication, and analytical modeling of silicone-based soft twisting actuators with high rotation capacity and efficiency.
Findings
Achieved rotation of over 435 degrees in prototypes
Rotation ratio exceeds 136 degrees per aspect ratio, doubling previous records
Demonstrated versatile applications in soft grippers, robot arms, and snake robots
Abstract
Soft actuators have shown great advantages in compliance and morphology matched for manipulation of delicate objects and inspection in a confined space. There is an unmet need for a soft actuator that can provide torsional motion to e.g. enlarge working space and increase degrees of freedom. Towards this goal, we present origami-inspired soft pneumatic actuators (OSPAs) made from silicone. The prototype can output a rotation of more than one revolution (up to 435{\deg}), more significant than its counterparts. Its rotation ratio (=rotation angle/ aspect ratio) is more than 136{\deg}, about twice the largest one in other literature. We describe the design and fabrication method, build the analytical model and simulation model, and analyze and optimize the parameters. Finally, we demonstrate the potentially extensive utility of the OSPAs through their integration into a gripper capable of…
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsSoft Robotics and Applications · Advanced Materials and Mechanics · Advanced Sensor and Energy Harvesting Materials
