Advanced Artificial Muscle for Flexible Material-Based Reconfigurable Soft Robots

Flexible material-based soft robots are widely used in various areas. In many situations, the suitable soft robots should be rapidly fabricated to complete the urgent tasks (such as rescue), so the facile fabricating methods of the multifunctional soft robots are still in urgent needs. In this work, the origami structure is employed to design vacuum-powered silicone rubber artificial muscles, which can perform multiple motions, including contraction, bending, twisting, and radial motions. Artificial muscles can be used for rapid reconfiguration of different soft robots, just like the "building bricks". Based on these artificial muscles, four soft robots with different functions, including an omnidirectional quadruped robot, a flexible gripper, a flexible wrist, and a pipe-climbing robot, are reconfigured to complete different tasks. The proposed origami artificial muscles offer a facile and rapid fabricating method of flexible material-based soft robots, and also greatly improve the utilization rate of flexible materials.