Articles | Volume 16, issue 1
https://doi.org/10.5194/ms-16-61-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-16-61-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Research article
| 
24 Jan 2025
Research article |
| 24 Jan 2025
| 24 Jan 2025
Design and validation of a programmable dual-tunnel soft pneumatic origami actuator with a large maximum shrinkage rate for reciprocating motion
Rongna Xu
Rehabilitation Engineering and Technology Institute, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
Rehabilitation Engineering and Technology Institute, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
Qiaolian Xie
Rehabilitation Engineering and Technology Institute, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
Yuxin Zheng
Rehabilitation Engineering and Technology Institute, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
Cuizhi Fei
Rehabilitation Engineering and Technology Institute, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
Vincenzo Parenti Castelli
Department of Industrial Engineering, University of Bologna, Bologna 40126, Italy
Hongliu Yu
Rehabilitation Engineering and Technology Institute, University of Shanghai for Science and Technology, Shanghai 200093, China
Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China
Key Laboratory of Neural-functional Information and Rehabilitation Engineering of the Ministry of Civil Affairs, Shanghai 200093, China
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Short summary
This paper proposes a novel dual-tunnel soft pneumatic origami actuator to provide a large maximum shrinkage rate for reciprocating motion. A programmed design method is proposed based on the geometric parameter model and stiffness model of the actuator. In comparison to other actuators, this actuator weighs only 5 g, and the force-to-weight ratio is 600. The maximum shrinkage rate of the actuator is 61 %, increasing the potential for lightweight and compact devices.
This paper proposes a novel dual-tunnel soft pneumatic origami actuator to provide a large...
