发表机构
Korea Advanced Institute of Science and Technology; Stanford University（韩国科学技术院; 斯坦福大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
该研究提出MONORIGAMI单片折纸启发式软折叠致动器，通过空间刚度各向异性设计实现精准可组合运动，可单材料3D打印，构建出多类软多自由度机器人系统，解决了传统软致动器的精度与扩展难题。
AI 中文摘要
传统软机器人致动器在柔顺性方面表现出色，但其不受控制的变形会损害精度，并阻碍向多自由度（DoF）系统的扩展。我们提出了一种受折纸启发的单片软折叠致动器设计（MONORIGAMI），该设计建立在空间编程刚度各向异性的设计策略基础上，可在期望的折叠方向上保持材料柔顺性，同时选择性限制非期望方向的变形。该致动器利用基于材料厚度的刚度层级，以折纸启发的几何结构（包含平面和折痕）进行图案化，无需额外加固即可将不受约束的软变形转化为精确、可重复且可组合的折叠运动。该设计可通过单材料、单打印流程完全3D打印，无需组装。每个致动器作为可扩展的运动基元，通过连接和定向多个致动器可机械编程多自由度轨迹。使用同一基本模块，我们展示了三种3D打印的软多自由度机器人系统，覆盖不同应用领域：（1）用于虚拟现实（VR）中高保真皮肤反馈的紧凑型4自由度可穿戴触觉设备；（2）用于遥操作中运动反馈的3自由度操纵杆；（3）能够水下作业、具备几何编码抓取轨迹的模块化机器人抓手。这些系统展示了该模块在不同环境下实现紧凑型多轴集成、受控物理交互和几何编程操作的能力。总体而言，这些结果表明MONORIGAMI为高精度软多自由度机器人提供了一种通用、可组合、易获取、可靠且可扩展的平台，解决了软致动器设计和制造中长期存在的局限性。
英文摘要
Conventional soft robot actuators excel in compliance, but their uncontrolled deformations compromise accuracy and hinder scaling to multi-degree-of-freedom (DoF) systems. We introduce a MONOlithic ORIGAMI-inspired soft folding actuator design (MONORIGAMI) that establishes a design strategy based on spatially programmed stiffness anisotropy to preserve material compliance along desired folding directions while selectively restricting deformation in unwanted directions. The actuator leverages stiffness tiers based on material thickness, patterned in an origami-inspired geometry with facets and creases, converting unconstrained soft deformation into accurate, repeatable, and composable folding motions without additional reinforcements. The design is fully 3D-printable through a single-material, single-print process that requires no assembly. Each actuator serves as a scalable motion primitive, and linking and orienting multiple actuators mechanically programs multi-DoF trajectories. Using the same fundamental module, we demonstrate three 3D-printed soft multi-DoF robotic systems spanning distinct application domains: (1) a compact 4-DoF wearable haptic device for high-fidelity cutaneous feedback in virtual reality (VR), (2) a 3-DoF joystick for kinesthetic feedback in teleoperation, and (3) a modular robotic gripper capable of underwater operation with geometry-encoded grasp trajectories. These systems demonstrate the module's capabilities for compact multi-axis integration, controlled physical interaction, and geometry-programmed operation across different environments. Together, these results show that MONORIGAMI provides a general, composable, accessible, reliable, and scalable platform for high-precision soft multi-DoF robotics, addressing long-standing limitations in both soft actuator design and fabrication.
Comments26 pages, 7 figures
