Design and Analysis of Origami-Based Multimodal Actuator Capable of Linear and Bending Motion

In this letter, a novel cable-driven soft origami multimodal actuator is proposed. The proposed actuator comprises multiple origamis based on the Yoshimura pattern. The origami-based actuator performs both linear and bending motion by exploiting the unique folding state of the origami structure using a simple motor-cable system. The impact force and position of the tip on the actuator are experimentally demonstrated, and the results are compared with mathematical models using folding mechanics. In the multi-modal origami structure, the actuator obtains high impact force, large bending angle, and large workspace with small size. To validate its performance, a pinch gripper with wide grasping range is also developed using a combination of the actuators.