Plug & play origami modules with all-purpose deformation modes

Actuators provide robot locomotion and manipulation, but most are limited by their number of motion types and coupled motions. Here, Zhang et. al. present an origami actuation module based on a modified Kresling pattern with pneumatically-driven pouches, thus enabling seven motion modes in one module. Three basic deformation modes of an object (bending, twisting, and contraction/extension) along with their various combinations and delicate controls lead to diverse locomotion. As a result, seeking mechanisms to achieve simple to complex deformation modes in a controllable manner is a focal point in related engineering fields. Here, a pneumatic-driven, origami-based deformation unit that offers all-purpose deformation modes, namely, three decoupled basic motion types and four combinations of these three basic types, with seven distinct motion modes in total through one origami module, was created and precisely controlled through various pressurization schemes. These all-purpose origami-based modules can be readily assembled as needed, even during operation, which enables plug-and-play characteristics. These origami modules with all-purpose deformation modes offer unprecedented opportunities for soft robots in performing complex tasks, which were successfully demonstrated in this work.