Layered woven-structure soft actuators for reconfigurable robot

Traditional fixed-shape robots face limitations when interacting with objects of varying surface materials, shapes, and stiffness. This study proposes a design that uses origami-inspired technology and soft pneumatic actuators (SPAs) within a woven structure to enable shape transformations and improve adaptability. The layered SPA design, characterized by a dual-axis actuator and an interwoven structure, provides enhanced mechanical strength, increased payload capacity, and expanded degrees of freedom (DOF) without adding additional joints. The developed actuator, inspired by origami and woven structures, was integrated into the reconfigurable wheels of a mobile robot to enable axis-switchable locomotion and compliant ground contact in unstructured environments. As a proof-of-concept, this approach demonstrates the potential to improve the adaptability and performance of mobile robots, with possible applications in transportation, personal assistance, and exploration.