An octagonal cylindrical origami structure with variable stiffness for soft robotics
Mou, Lisheng Xu, Suyang Sun, Yi Wu, Ke Zhao, Jinglei Yuan, Shujin Zhou, Mingliang Luo, Jun Pu, Huayan
Mou, Lisheng
Xu, Suyang
Sun, Yi
Wu, Ke
Zhao, Jinglei
Yuan, Shujin
Zhou, Mingliang
Luo, Jun
Pu, Huayan
Supervisor
Department
Robotics
Embargo End Date
Type
Journal article
Date
2025
License
Language
English
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Abstract
In recent years, variable stiffness has become a prominent area of research within the field of soft robotics, drawing considerable interest. Origami-inspired structures have been recognized as innovative solutions for achieving variable stiffness due to their unique design methodologies and mechanical properties. However, their limited range of stiffness adjustment has restricted their broader practical applications. In this research, we introduce a novel octagonal cylindrical origami (OCO) structure equipped with a variable-stiffness mechanism (VSM) capable of adjusting stiffness. We elaborate on the design process of the OCO and analyze its folding kinematics. Subsequently, the VSM, which operates on the principle of reconfigurable self-locking of origami structures, is integrated into the OCO to alter its stiffness. Experimental results demonstrate that the OCO can continuously adjust stiffness over two orders of magnitude without sacrificing ease of folding or high compression ratio. Finally, two application scenarios highlight the OCO's superior performance in impact mitigation, multi-mode motion, and adaptive stiffness.
Citation
L. Mou et al., “An octagonal cylindrical origami structure with variable stiffness for soft robotics,” Int J Mech Sci, vol. 303, p. 110604, Oct. 2025, doi: 10.1016/J.IJMECSCI.2025.110604
Source
International Journal of Mechanical Sciences
Conference
Keywords
Easy folding, Folding kinematics, High compression ratio, Octagonal cylindrical origami, Reconfigurable self-locking, Variable stiffness
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Source
Publisher
Elsevier