Soft Origami Module With Piezoelectric Sensors for Multi-Directional Bending
Seunghoon Yoo, Heon Ick Park, Joohyeon Kang, Youngsu Cha
Abstract
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, which was intended by the origami folding on carefully designed creases. The electric responses to the mechanical deformation were calibrated and measured using the motion tracking of the module and voltage data acquisition from the sensor. The experimental results showed that large bending of 45 degrees in 4 directions can be monitored by the sensor outputs. It was also predicted by theoretical modeling based on the origami kinematics and piezoelectric sensing mechanism. Furthermore, soft origami joystick and adaptive finger phalanx were demonstrated to show the applicability of the module in the field of robotics. This study provides the guideline into establishing functional soft origami modules and insight for robotic applications.
BibTeX
@inproceedings{ral2025_softorigamimodul,
title = {Soft Origami Module With Piezoelectric Sensors for Multi-Directional Bending},
author = {Seunghoon Yoo and Heon Ick Park and Joohyeon Kang and Youngsu Cha},
booktitle = {RA-L 2025},
year = {2025}
}