Zhuowen Li

2 accepted papers

2025

Origami-Inspired Pneumatic Continuum Manipulator: Stiffness Modeling and Validation

Zhuowen Li, Huaiyuan Chen, Chunshan Xu, Fan Xu

IROS 2025

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

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2024

An Origami-Inspired Pneumatic Continuum Module with Active Variable Stiffness

Zhuowen Li, Huaiyuan Chen, Fan Xu, Hesheng Wang

IROS 2024poster

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…

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