Fiber-Reinforced Origamic Robotic Actuator.

Area of Science:

• Robotics
• Materials Science
• Mechanical Engineering

Background:

• McKibben-type actuators are widely used but have limitations in motion range and force.
• Soft robotic actuators offer advantages in safety and adaptability but require further performance improvements.

Purpose of the Study:

• To introduce a novel pneumatic soft linear actuator, the Fiber-reinforced Origamic Robotic Actuator (FORA).
• To demonstrate FORA's superior performance in motion range, force output, and actuation pressure compared to existing actuators.
• To provide analytical models and fabrication guidelines for FORA.

Main Methods:

• Development of a novel soft origamic chamber design that expands radially and contracts axially.
• Integration of the origamic chamber with a reinforcing fiber mesh to create the FORA.
• Quasi-static analytical modeling for motion and force characterization and design.
• Fabrication using consumer-grade 3D printing and performance testing against commercial actuators.
• Development of a robotic joint driven by antagonistic FORAs.

Main Results:

• FORA achieves nearly doubled motion range and substantially improved force profile over McKibben actuators.
• FORA generates high traction force (>150N) and large contractile motion (>50%) at low input pressure (100 kPa).
• Analytical models show good agreement with experimental results.
• FORA demonstrates superior performance compared to commercial pneumatic artificial muscles.
• A robotic joint utilizing FORAs showcases improved performance benefits.

Conclusions:

• FORA represents a significant advancement in soft pneumatic linear actuators.
• Its simple structure, ease of fabrication (3D printing), and high performance make it highly adaptable.
• FORA has the potential to accelerate the adoption and application of soft robotic systems.