3 accepted papers
This paper establishes a stiffness model for an origami-inspired pneumatic continuum manipulator (OPM) capable of large stretch ratio and active stiffness modulation. A kinematic model is firstly established, using the piecewise constant curvature assumption, in order to describe the end-effector’s
This paper presents a novel pneumatic continuum module featuring high contraction-ratio, bidirectional actuation, and active stiffness regulation. The module comprises four linear pneumatic actuators integrating rigid polygon origami frame into soft bellow. This integration not only helps to regulat…
A novel origami-inspired foldable pneumatic actuator is proposed in this letter to satisfy the comprehensive requirements in wearable assistive application. The pneumatic actuator combines the origami structure of designed Quadrangular-Expand pattern and the foldable pneumatic bellow. Integrated ori