MuA-Ori: Multimodal Actuated Origami

TL;DR

MuA-Ori introduces modular inflatable origami actuators capable of switching between multiple deformation modes in response to a single input, enabling complex motions and versatile configurations in robotics.

Contribution

The paper presents a novel design of bistable origami modules that can switch deformation modes based on pressure thresholds, allowing multimodal actuation in inflatable robotics.

Findings

Modules can switch deformation modes at different pressure thresholds.

Modules can rotate clockwise or counterclockwise upon actuation.

Modules can bend in various planes, enabling complex trajectories.

Abstract

Recently, inflatable elements integrated in robotics systems have enabled complex motions as a result of simple inputs. However, these fluidic actuators typically exhibit unimodal deformation upon inflation. Here, we present a new design concept for modular, fluidic actuators that can switch between deformation modes as a response to an input threshold. Our system comprises bistable origami modules in which snapping breaks rotational symmetry, giving access to a bending deformation. By tuning geometry, the modules can be designed to snap at different pressure thresholds, rotate clockwise or counterclockwise when actuated, and bend in different planes. Due to their ability to assume multiple deformation modes as response to a single pressure input we call our system MuA-Ori, or Multimodal Actuated Origami. MuA-Ori provides an ideal platform to design actuators that can switch between different configurations, reach multiple, pre-defined targets in space, and move along complex trajectories.