Constrained Origami Artificial Muscle-Driven Robotic Manipulator Capable of Coordinating Twisting and Grasping Motions for Object Manipulation

• DOI: 10.1021/acsami.3c17978
• Publication Date: 2024-02-01T17:19:26Z
• Authors: Zhenhui Li; Zifeng Wang; Wei Dawid Wang
• Keywords: Manipulator (device); Soft Robotics

Grasping and twisting motions are vital when manipulating objects due to their fundamental role in enabling precision, adaptability, effective interaction. However, few studies soft robotics exploiting artificial muscles have achieved object manipulation situ through the coordination of grasping akin our forearm hand's capabilities. Especially, using same muscle module achieve these two will greatly simplify manufacturing control complexity. Here, we introduce identical origami modules (OAMMs) subjected distinct end constraints into design robotic manipulator, allowing it independent effective, precise manipulation. Applying different OAMMs yields at ends, where utilizing a fixed sliding realizes pure translation, while opting for rotating enables rotation. The differentially constrained then serve as actuators manipulator's torsional mechanism accomplish independent, controllable motions. finally manipulator complete various tasks, including installing light bubble, pouring water from lidded bottle cup, sorting stacking puzzle blocks. Our study pioneers utilization versatile