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Soft Origami Optical-Sensing Actuator for Underwater Manipulation.

Zhong Shen¹, Yafei Zhao², Hua Zhong²

¹Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, China.

Frontiers in Robotics and AI

|March 29, 2021

Summary

A new Soft Origami Optical-Sensing Actuator (SOSA) offers integrated actuation and sensing for underwater robots. This novel design enhances dexterity and simplifies fabrication for complex manipulation tasks in harsh environments.

Keywords:

actuator optical sensing origami soft robotics underwater manipulation

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Area of Science:

Robotics
Materials Science
Sensor Technology

Background:

Soft robots offer advantages for underwater manipulation due to compliance and waterproofing.
Challenges exist in modeling and sensing complex motions of soft actuators in dynamic underwater environments.

Purpose of the Study:

To introduce a novel Soft Origami Optical-Sensing Actuator (SOSA) with integrated actuation and sensing.
To address limitations in force output, modeling, and sensory feedback for soft actuators in underwater applications.

Main Methods:

Development of a Soft Origami Optical-Sensing Actuator (SOSA) inspired by origami principles.
Integration of optical waveguides for hybrid motion sensing.
Simplified fabrication by eliminating the need for external cladding layers.

Main Results:

The SOSA design enables large force output and contraction/elongation/passive bending actuation.
Demonstrated robust and accurate hybrid motion sensing capabilities.
Successful development of a hybrid underwater 3-Degrees-of-Freedom (3-DOFs) manipulator using the SOSA.

Conclusions:

The SOSA provides a novel solution for integrated actuation and sensing in soft robotics.
The origami-inspired design enhances performance and simplifies fabrication for harsh environment applications.
The proposed actuator is suitable for complex interaction and operation tasks in challenging underwater settings.