Adaptive and Multi-object Grasping via Deformable Origami Modules

TL;DR

This paper introduces a soft robotic gripper with passively deformable origami modules that enable stable, adaptive, and multi-object grasping without complex control, enhancing efficiency in handling fragile and varied objects.

Contribution

The work presents a novel origami-based multi-finger gripper capable of passive shape adaptation and simultaneous multi-object grasping without active sensing or feedback.

Findings

Enables stable grasping of fragile objects.

Allows multi-object manipulation with different shapes and sizes.

Improves efficiency over single-object grasping methods.

Abstract

Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and reliable grasping performance. In this work, we present a multi-finger hybrid gripper featuring passively deformable origami modules that generate constant force and torque output. Each finger composed of parallel origami modules is driven by a 1-DoF actuator mechanism, enabling passive shape adaptability and stable grasping force without active sensing or feedback control. More importantly, we demonstrate an interesting capability in simultaneous multi-object grasping, which allows stacked objects of varied shape and size to be picked, transported and placed independently at different states, significantly improving manipulation efficiency compared to single-object grasping. These results highlight the potential of origami-based compliant structures as scalable modules for adaptive, stable and efficient multi-object manipulation in domestic and industrial pick-and-place scenarios.