外观
论文arXiv 2609.007511 个月前
单次打印，多种运动：用于可组合软体多自由度系统的一体式折纸启发折叠执行器
原文链接：One Print, Many Moves: Monolithic Origami-inspired Folding Actuator for Composable Soft Multi-DoF Systems（arXiv 2609.00751 · 发布日期：2026-09-01）
One Print, Many Moves: Monolithic Origami-inspired Folding Actuator for Composable Soft Multi-DoF Systems
针对软执行器变形难控且难扩展问题，MONORIGAMI以空间编程刚度各向异性实现可组合折叠，并在三类3D打印软多自由度系统中验证。
核心要点
- 传统软体执行器柔顺性好，但无控变形会损害精度，并阻碍扩展到多自由度系统。
- 方法通过材料厚度形成刚度层级，结合折纸式面与折痕，保留期望折叠并限制非期望变形。
- 同一基础模块演示了4-DoF VR穿戴触觉设备、3-DoF遥操作摇杆和可水下模块化夹爪。
- 该设计支持单材料单次3D打印且无需装配，多个执行器连接定向后可机械编程多DoF轨迹。
验证范围与局限：验证范围为三个3D打印软多自由度系统，覆盖VR皮肤反馈、遥操作动觉反馈和水下抓取。
英文摘要 (Abstract)
Conventional soft robot actuators excel in compliance, but their uncontrolled deformations compromise accuracy and hinder scaling to multi-degree-of-freedom (DoF) systems. We introduce a MONOlithic ORIGAMI-inspired soft folding actuator design (MONORIGAMI) that establishes a design strategy based on spatially programmed stiffness anisotropy to preserve material compliance along desired folding directions while selectively restricting deformation in unwanted directions. The actuator leverages stiffness tiers based on material thickness, patterned in an origami-inspired geometry with facets and creases, converting unconstrained soft deformation into accurate, repeatable, and composable folding motions without additional reinforcements. The design is fully 3D-printable through a single-material, single-print process that requires no assembly. Each actuator serves as a scalable motion primitive, and linking and orienting multiple actuators mechanically programs multi-DoF trajectories. Using the same fundamental module, we demonstrate three 3D-printed soft multi-DoF robotic systems spanning distinct application domains: (1) a compact 4-DoF wearable haptic device for high-fidelity cutaneous feedback in virtual reality (VR), (2) a 3-DoF joystick for kinesthetic feedback in teleoperation, and (3) a modular robotic gripper capable of underwater operation with geometry-encoded grasp trajectories. These systems demonstrate the module's capabilities for compact multi-axis integration, controlled physical interaction, and geometry-programmed operation across different environments. Together, these results show that MONORIGAMI provides a general, composable, accessible, reliable, and scalable platform for high-precision soft multi-DoF robotics, addressing long-standing limitations in both soft actuator design and fabrication.
作者：JaeHyung Jang, Zhenishbek Zhakypov, Jasmin Elena Palmer, Melissa Klein, Jee-Hwan Ryu, Allison M. Okamura
来源
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