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Related Experiment Video

Updated: Aug 16, 2025

Folding and Characterization of a Bio-responsive Robot from DNA Origami
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Annelid-inspired high-elongation origami robot using partial material removal.

Xianhe Wei1,2, Yanzhi Zhao1,2, Zhengwei Fan1,2

  • 1Key Laboratory of Parallel Robots and Mechatronic Systems, Yanshan University, Hebei 066104, People's Republic of China.

Bioinspiration & Biomimetics
|December 21, 2022
PubMed
Summary

This study introduces a novel origami robot inspired by annelids, enhancing flexibility and bending for applications like disaster rescue. The robot achieves significantly improved elongation and bending capabilities through material removal and a unique driving scheme.

Keywords:
Yoshimura origamihigh-elongationimitation annelidsmaterial removal

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Materials Science

Background:

  • Existing soft robots struggle with limited elongation, bending, and flexibility, hindering applications in space, rescue, and exploration.
  • Yoshimura tubular origami offers good elongation but is constrained by nonrigid folding and a negative Poisson's ratio, limiting its axial elongation and bending angles.
  • Annelids exhibit remarkable body flexibility, providing a biological model for enhanced robotic movement.

Purpose of the Study:

  • To overcome the limitations of existing tubular origami mechanisms for soft robots.
  • To develop a highly flexible tubular origami robot with a large bending angle inspired by annelid locomotion.
  • To improve robotic performance in challenging environments such as disaster search and rescue operations.

Main Methods:

  • Analyzing factors limiting Yoshimura tubular origami elongation and imitating annelid joint morphology and motion.
  • Implementing local material removal and macroscopic elimination of the negative Poisson's ratio to enhance flexibility.
  • Designing a continuous origami robot using a segmented Ni-Ti memory alloy wire drive with force and geometric constraints.

Main Results:

  • The optimized origami mechanism demonstrated a 2.5 times increase in maximum elongation ratio and a 3 times increase in maximum bending angle after material removal.
  • Kinematic analysis of the paper folding module unit was performed in a workspace.
  • Experimental validation confirmed the enhanced performance and application potential in unstructured rescue scenarios.

Conclusions:

  • The proposed method effectively enhances the flexibility and bending capabilities of tubular origami mechanisms.
  • The annelid-inspired design and material removal technique significantly improve robotic performance for complex tasks.
  • The developed continuous origami robot shows promise for real-world applications in unstructured environments, particularly in rescue operations.