MuA-Ori: Multimodal Actuated Origami

Recently, inflatable elements integrated in robotics systems have enabled complex motions as a result of simple inputs. However, these fluidic actuators typically exhibit unimodal deformation upon inflation. Here, we present a new design concept for modular, fluidic actuators that can switch between deformation modes as a response to an input threshold. Our system comprises bistable origami modules in which snapping breaks rotational symmetry, giving access to a bending deformation. By tuning geometry, the modules can be designed to snap at different pressure thresholds, rotate clockwise or counterclockwise when actuated, and bend in different planes. Due to their ability to assume multiple deformation modes as response to a single pressure input we call our system MuA-Ori, or Multimodal Actuated Origami. MuA-Ori provides an ideal platform to design actuators that can switch between different configurations, reach multiple, pre-defined targets in space, and move along complex trajectories.