Development of wire-driven soft robot using deformable origami structure

Abstract

Currently, research on soft robots is progressing. Soft robots have characteristics such as soft bodies, supple movements, and adaptability like living creatures. However, it is not precise or accurate, and it deforms when force is applied. Therefore, we came up with a soft robot that uses an origami structure. The origami structure has the property that the intended movement of the entire origami robot can be created by properly flexing and stretching the folds. In addition, we aim to develop a soft robot that can control more complex deformations, although the conventional origami structure soft robot can only be controlled ON/OFF.