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Free-form Light Actuators &#8212; Fabrication and Control of Actuation in Microscopic Scale
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Low-profile folding mechanism for multi-DoF feedback control.

Hwayeong Jeong1, Jung Kim2, Jamie Paik1

  • 1Reconfigurable Robotics Laboratory, EPFL, 1015, Lausanne, Switzerland. jamie.paik@epfl.ch.

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|June 13, 2025
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Summary
This summary is machine-generated.

This study introduces an embeddable pneumatic system with ultra-thin actuators, sensors, and transmissions for soft robotics. It enables adaptable, reconfigurable structures with precise feedback control for complex tasks.

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft structures offer adaptability through numerous degrees of freedom (DoF).
  • Integrating reconfigurable robotic systems into soft structures is key for efficient force/torque transmission.
  • Challenges exist in optimizing the spatial distribution of actuation, sensing, and transmission components in soft systems.

Purpose of the Study:

  • To present an embeddable pneumatic system with ultra-thin actuators, integrable sensors, and modular transmissions for soft structures.
  • To enable seamless, space-efficient integration and flexible reconfiguration of robotic systems.
  • To demonstrate precise control over folding sequences and angles in origami-inspired surfaces.

Main Methods:

  • Development of an ultra-thin pneumatic system featuring a rolling diaphragm actuator.
  • Integration of an optical sensor module for low-profile feedback.
  • Utilizing modular transmissions for adaptable stroke length and reconfiguration.
  • Implementing feedback control for origami-inspired surfaces.

Main Results:

  • The system achieves a high aspect ratio (approx. 10) and stroke length up to five times its thickness.
  • The rolling diaphragm mechanism minimizes friction and joint stress.
  • Precise feedback control of folding sequences and angles was demonstrated.
  • The components were compactly embedded within an origami-inspired surface.

Conclusions:

  • The proposed system provides a scalable and customizable foundation for large-scale robotic systems with intricate geometries.
  • It enables distributed control and adaptability in soft robotic applications.
  • The technology supports seamless deployment and enhanced performance in reconfigurable structures.