3D Printed Meter-Scale Soft Origami Robots Capable of Load-Bearing Actuation Via Crease Stiffness Modulation

Origami has been a rich source for the design of soft deployable mechanisms capable of safe human-robot interaction. However, the relatively weak structural stiffness of the folding crease lines gives rise to kinematic instability during shape transition, constraining practical robotic applications. Here, a 3D printed origami robotic actuator capable of load-bearing deformation at the meter scale is proposed, enabled by programming the creaseline stiffness through modular assembly. During origami unfolding, the joint modules assembled onto the origami facets are stretched and subsequently provide antagonistic passive shape retention force to maintain kinematic stability. The integration of roll-to-roll (r2r) 3D printing further facilitates scalable fabrication of origami actuators with programmable robotic performance. The effectiveness of our framework is highlighted by a 1.3 m-long collaborative robotic arm with variable workspace and an origami tent frame capable of automatic deployment and folding.