In the 3 DoF (Degrees of Freedom) origami pneumatic soft robot (OSPA) designed [1], much of the pneumatic power is lost due to the folding thickness of the creases implemented. Improvements to this model should be directed to reducing the folding stiffness of the structure, either by implementing alternative (composite) materials or by reconfiguring the structural pattern. This OSPA needs to be miniaturized to improve its applicability and performance in the medical field by investigating other potential materials and compounds as well as by exploring origami techniques for an improved structure. Pneumatic actuators will be able to bend, elongate, and compress with increased manoeuvrability and control. With the changes that will be derived from the work of this project, devices such as endoscopes which are involved in minimally invasive surgery can be better implemented in terms of efficiency and convenience for surgeons, as well as safety for patients undergoing these surgical procedures.
How well does the Origami-based Pneumatic Soft Robot maintain its capabilities, such as its ability to bend, elongate and compress when downsized to a length of 60 mm and width of 20 mm?
[1] Mak, Y. X., Dijkshoorn, A., & Abayazid, M. (2024). Design Methodology for a 3D Printable Multi‐Degree of Freedom Soft Actuator Using Geometric Origami Patterns. Advanced Intelligent Systems, 2300666. https://doi.org/10.1002/aisy.202300666