Low-profile folding mechanism for multi-DoF feedback control

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.