Reproduce “One Print, Many Moves: Monolithic Origami-inspired Folding Actuator for Composable Soft Multi-DoF Systems” on OpenResearch
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About this paper
Jaehyung Jang, Zhenish Zhakypov, Jasmin Elena Palmer, Melissa Klein, Jee-Hwan Ryu, Allison Mariko Okamura
This research from KAIST and Stanford University introduces MONORIGAMI, a soft folding actuator that leverages monolithic 3D printing and spatially programmed stiffness to achieve accurate, multi-degree-of-freedom motion. The single-material, single-print approach effectively transforms unconstrained soft deformation into predictable folding, enabling compact and scalable soft robotic systems for haptic feedback, teleoperation, and manipulation.
Key insights
- Spatially programmed stiffness anisotropy, through varying material thickness, effectively guides soft material compliance into predefined, accurate folding motions by suppressing unwanted degrees of freedom.
- Monolithic additive manufacturing simplifies the fabrication of complex soft actuators, integrating all necessary components and fluidic channels into a single print, reducing assembly complexity and potential failure points.
- A composable design using origami-inspired modules allows for scalable and versatile construction of multi-DoF soft robotic systems, enabling complex trajectories through mechanical programming rather than complex control.
Summary by alphaXiv.
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