Experimental study demonstrates large multi-axis deformations in low-pressure soft origami chambers, highlighting a scalable design pathway for safe soft robotic linkages.
Key Points
To design monolithic soft pneumatic chambers that achieve large, multi-directional deformations at low positive operating pressures without requiring rigid reinforcements or complex assembly.
Encoded joint kinematics (prismatic, pivot, and helicoidal motions) directly into origami crease geometries of monolithic soft chambers.
Characterized structural responses across geometry-dominated and material-driven regimes using geometric modeling, finite element simulations, and physical experiments.
Operated successfully under low positive pressures below 15 kPa while maintaining monolithic softness.
Achieved peak deformations of up to 268% axial stretch, 72° bending, and 55° twist across the three joint configurations.
Demonstrated that deformation transitions smoothly from early fold kinematics to hyperelastic membrane stretching upon full unfolding.