Gao Shuang, Zhang Jun, Zhang Rong, Li Long, Cai Jianguo, Lin Yangqiao, Jin Tao
Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China.
Tsinghua Shenzhen International Graduate School, Shenzhen, China.
Soft Robot. 2025 Aug;12(4):477-487. doi: 10.1089/soro.2024.0112. Epub 2025 Jan 16.
Soft actuators hold great potential for applications in surgical operations, robotic manipulation, and prosthetic devices. However, they are limited by their structures, materials, and actuation methods, resulting in disadvantages in output force and dynamic response. This article introduces a soft pneumatic actuator capable of bending based on triangular prism origami. The origami creases are crafted by utilizing fabrics to gain swift response and fatigue-resistant properties. By connecting two actuators in series, combined motions including extension and diversified compound bending can be achieved, facilitating control in complex scenarios. After modularizing the soft actuator via mortise and tenon structures, several actuators can be programmed to execute a variety of intricate tasks by adjusting the timing sequences of their contraction and expansion. We showcase its applications in reconfigurable robots, and the results confirm that such a design is adequate for flexibly performing tasks such as soft gripping, navigational movement, and obstacle avoidance. These findings highlight the significance of our actuator in developing soft robots for versatile tasks.
软驱动器在外科手术、机器人操作和假肢装置等应用中具有巨大潜力。然而，它们受到结构、材料和驱动方式的限制，导致在输出力和动态响应方面存在缺点。本文介绍了一种基于三角棱柱折纸的可弯曲软气动驱动器。通过使用织物制作折纸折痕，以获得快速响应和抗疲劳性能。通过将两个驱动器串联连接，可以实现包括伸展和多样化复合弯曲在内的组合运动，便于在复杂场景中进行控制。通过榫卯结构对软驱动器进行模块化后，可以通过调整其收缩和膨胀的时间序列，对多个驱动器进行编程以执行各种复杂任务。我们展示了其在可重构机器人中的应用，结果证实这种设计足以灵活执行诸如软抓取、导航移动和避障等任务。这些发现凸显了我们的驱动器在开发用于多功能任务的软机器人方面的重要性。
