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3D-Printed Shape-Memory Polymer-Based Variable-Stiffness Origami Actuator for Multimodal Soft Continuum Robots.

Chuanwei Liang¹, Jiayang Liu¹, Shikun Lin¹

¹Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 511442, China.

ACS Applied Materials & Interfaces

|June 7, 2025

Summary

This summary is machine-generated.

This study introduces 3D-printed soft continuum robots with origami modules and variable-stiffness hinges. These robots achieve high load-bearing capacity and adaptable, programmable deformations for complex tasks.

Keywords:

Kresling actuator continuum robot self-locking effect shape-memory polymer variable stiffness

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Area of Science:

Robotics
Materials Science
Mechanical Engineering

Background:

Soft continuum robots offer compliance but lack stability under load.
Existing designs struggle with deformation and load-bearing capacity in complex environments.

Purpose of the Study:

To develop soft continuum robots with enhanced load-bearing capacity and versatile deformation.
To integrate origami-inspired modules and variable-stiffness hinges for improved robot performance.

Main Methods:

3D printing of soft continuum robots incorporating origami modules and shape-memory polymer hinges.
Utilizing selective heating and actuation for programmable multimodal deformation.
Developing a modular design for scalability and adaptability.

Main Results:

Demonstrated seamless transition between soft and stiff states for dynamic deformation and structural locking.
Achieved precise, programmable multimodal deformation using Kresling origami modules.
Validated selective bending, bottle opening, and load-bearing capabilities in multi-segment configurations.

Conclusions:

The proposed design significantly enhances load-bearing capacity and stability in soft continuum robots.
The modular, origami-inspired approach enables customizable and scalable robot functionalities.
These advancements open new possibilities for soft robots in complex, demanding applications.