Origami-Inspired Pneumatic Continuum Manipulator: Stiffness Modeling and Validation
Zhuowen Li, Huaiyuan Chen, Chunshan Xu, Fan Xu
Abstract
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 posture by configuration states. Subsequently, utilizing virtual work theory, the static model is derived, which integrates both pneumatic actuation and intrinsic elastic energy. Based on this foundation, a Cartesian compliance matrix is formulated to quantitatively predict 3D deformations under external loads. Experimental validation of stiffness model demonstrates spatial prediction accuracy with maximum errors of 2.00 mm (z-axis), 2.04<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">◦</sup> (roll) under 500 g payloads for one module. For the OPM, tested up to 300 g loading, positional and angular errors remain below 5 mm (x-axis), 3 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">◦</sup> (pitch). This study aims to bridge pressure-stiffness coupling and enable model-based stiffness-position control for adaptive tasks.
BibTeX
@inproceedings{iros2025_origamiinspiredp,
title = {Origami-Inspired Pneumatic Continuum Manipulator: Stiffness Modeling and Validation},
author = {Zhuowen Li and Huaiyuan Chen and Chunshan Xu and Fan Xu},
booktitle = {IROS 2025},
year = {2025}
}