7 accepted papers
This letter presents a novel cable-driven hybrid origami-inspired actuator with load-bearing capability. In contrast to conventional origami, the hybrid origami layer of the actuator is characterized by resilient hinges and rigid facets. The layers are bonded and assembled with the motors that apply
In this letter, a novel soft origami module is proposed to detect multi-directional bending. The module is inspired by the deformability and adaptability of the piezoelectric sensor and origami structure. The detection of applied bending was conducted by the deflection of the piezoelectric sensor, w
Wheeled-legged robots offer significant mobility advantages, yet their control is complicated by the coupled dynamics of the wheel and leg systems. To address this challenge, we propose a whole-body control framework built upon a decoupled architecture. In this structure, a two-wheeled inverted pend
In this letter, a novel cable-driven soft origami multimodal actuator is proposed. The proposed actuator comprises multiple origamis based on the Yoshimura pattern. The origami-based actuator performs both linear and bending motion by exploiting the unique folding state of the origami structure usin
Angular motion of soft actuators is important for utilization in robotic systems. In the robots, the angular motion should enable agile movement and a wide range. This study proposes a novel design of a soft electrohydraulic actuator inspired by an accordion with an improved angular deformation rang
Soft robotics require unique and novel actuators for various applications. Therefore, a novel soft electro-hydraulic actuator is proposed and its ability to manipulate a spherical object on an active plate is demonstrated. The proposed actuator has two actuation parts with asymmetric electrodes. Two
Recently in tandem with the spread of portable devices for reading electronic books, devices for digitizing paper books, called book scanners, are developed to meet the increased demand for digitizing privately owned books. However, conventional book scanners still have complex components to mechani…