Origami exoskeletons for enhanced soft robotic manipulation

Abstract

Soft robots are characterized by ultraflexible electromechanical structures that are capable of large deformations and movements. However, the challenge of generating the high output forces necessary for manipulation persists because of the low Young's moduli of soft materials, which limit their effectiveness in tasks such as carrying, grasping, and providing support. Inspired by shrimp exoskeletons, we designed an origami exoskeleton that features flexible-rigid arrangements and mechanical multistability. This design offers high stiffness in stable states while allowing for long-stroke transitions, making it suitable for integration with soft actuators to balance deformability and load-bearing capacity. With advantages such as high compressibility and rapid integration, these exoskeleton-enhanced arms have promising applications when mounted on unmanned ground and aerial vehicles, facilitating large-scale dexterous manipulation with the necessary load capacities. For existing soft arms, the proposed origami exoskeleton enhances the potential for manipulation within their original design framework.