This study examines a biology-inspired approach of using reconfigurable articulation to reduce the control requirement for soft robotic arms. We construct a robotic arm by assembling Kresling origami modules that exhibit predictable bistability. By switching between their two stable states, these origami modules can behave either like a flexible joint with low bending stiffness or like a stiff link with high stiffness, without requiring any continuous power supply. In this way, the robotic arm can exhibit pseudo-linkage kinematics with lower control requirements and improved motion accuracy. A unique advantage of using origami as the robotic arm skeleton is that its bending stiffness ratio between stable states is directly related to the underlying Kresling design. Therefore, we conduct extensive parametric analyses and experimental validations to identify the optimized Kresling pattern for articulation. The results indicate that a higher angle ratio, a smaller resting length at contracted stable state, and a large number of polygon sides can offer more significant and robust bending stiffness tuning. Based on this insight, we construct a proof-of-concept, tendon-driven robotic arm consisting of three modules and show that it can exhibit the desired reconfigurable articulation behavior. Moreover, the deformations of this manipulator are consistent with kinematic model predictions, which validate the possibility of using simple controllers for such compliant robotic systems.

中文翻译：

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利用 Kresling Origami 的多重稳定性实现软机器人手臂的可重构关节

本研究探讨了一种受生物学启发的方法，该方法使用可重构关节来减少对软机械臂的控制要求。我们通过组装表现出可预测的双稳态的 Kresling 折纸模块来构建机械臂。通过在两种稳定状态之间切换，这些折纸模块可以表现得像具有低弯曲刚度的柔性接头或具有高刚度的刚性连杆，而无需任何持续供电。通过这种方式，机械臂可以表现出具有较低控制要求和提高运动精度的伪连杆运动学。使用折纸作为机械臂骨架的一个独特优势是其稳定状态之间的弯曲刚度比与底层的 Kresling 设计直接相关。所以，我们进行了广泛的参数分析和实验验证，以确定优化的 Kresling 模式以进行发音。结果表明，更高的角比、更小的收缩稳定状态下的静止长度和大量的多边形边可以提供更显着和稳健的弯曲刚度调整。基于这一见解，我们构建了一个由三个模块组成的概念验证、肌腱驱动的机械臂，并表明它可以表现出所需的可重构关节行为。此外，该机械手的变形与运动学模型预测一致，这验证了将简单控制器用于此类顺应机器人系统的可能性。在收缩稳定状态下较小的静止长度，以及大量的多边形边可以提供更显着和稳健的弯曲刚度调整。基于这一见解，我们构建了一个由三个模块组成的概念验证、肌腱驱动的机械臂，并表明它可以表现出所需的可重构关节行为。此外，该机械手的变形与运动学模型预测一致，这验证了将简单控制器用于此类顺应机器人系统的可能性。在收缩稳定状态下较小的静止长度，以及大量的多边形边可以提供更显着和稳健的弯曲刚度调整。基于这一见解，我们构建了一个由三个模块组成的概念验证、肌腱驱动的机械臂，并表明它可以表现出所需的可重构关节行为。此外，该机械手的变形与运动学模型预测一致，这验证了将简单控制器用于此类顺应机器人系统的可能性。