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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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Origami Actuator with Tunable Limiting Layer for Morphological Adaptive Soft Robots.

Kejin Zhu1,2,3, Yang Yang1,2,3, Sheng Xiang1,2,3

  • 1School of Automation, Nanjing University of Information Science and Technology, Nanjing, China.

Soft Robotics
|December 24, 2025
PubMed
Summary

This study introduces a novel origami actuator using hybrid pneumatic and motor control. Its tunable limiting layer allows for adaptable shape-reconfiguration, enabling versatile applications in soft robotics.

Keywords:
hybrid actuationorigami actuatorreconfigurabilitysoft robotics

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Materials Science

Background:

  • Origami-inspired actuators offer unique deformation capabilities.
  • Existing designs often lack adaptability for diverse tasks.
  • Hybrid actuation methods can enhance control and functionality.

Purpose of the Study:

  • To develop an origami actuator with a tunable limiting layer.
  • To achieve on-demand reprogramming of actuator morphology.
  • To demonstrate the actuator's utility in soft robotic applications.

Main Methods:

  • Utilized a Miura origami structure with a strain-limiting layer.
  • Implemented hybrid pneumatic and servomotor actuation for length adjustment.
  • Fabricated soft robotic grippers, crawling robots, and amphibious robots.

Main Results:

  • The actuator demonstrated tunable outward extension and inward bending.
  • Achieved an adjustable bending angle range from 28.5° to 171.9°.
  • Successfully applied the actuator in functional soft robotic prototypes.

Conclusions:

  • The tunable limiting layer enables morphological reconfiguration for environmental adaptation.
  • This origami actuator design significantly enhances the versatility of soft robots.
  • The hybrid actuation approach provides precise control over actuator output.