Reconfigurable Shape Morphing With Origami-Inspired Pneumatic Blocks

Inflatable origami structure has immense potential in realizing fast, customizable, large-deforming, and three-dimensional shape morphing in robotics. In this letter, we developed a new modular origami block for performing reconfigurable shape transformations within fabricated hardware. Along with a paper-based block design to offer a straightforward fabrication and high power-to-mass ratio, we developed a multiblock system with foldable pneumatic passages and custom valves to manually inflate each block (13 g) by means of a single pressure input. We achieved the contraction ratio of 77% for a single block, while the response time was below 0.14 s at 100 kPa without payload. The mechanical properties were characterized to examine the stackability and reversibility as the number of blocks changed for expansion and compression forces and shape transformation. The potential benefits of our findings were demonstrated by shape morphing with individual activations of blocks using the same multiblock system. Future origami robots made of stackable pneumatic blocks may be suitable for multifunctional applications because of their reconfigurable properties.