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One Print, Many Moves: Monolithic Origami-inspired Folding Actuator for Composable Soft Multi-DoF Systems

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

Conventional soft robot actuators excel in compliance, but their uncontrolled deformations compromise accuracy and hinder scaling to multi-degree-of-freedom (DoF) systems. We introduce a MONOlithic ORIGAMI-inspired soft folding actuator design (MONORIGAMI) that establishes a design strategy based on spatially programmed stiffness anisotropy to preserve material compliance along desired folding directions while selectively restricting deformation in unwanted directions. The actuator leverages stiffness tiers based on material thickness, patterned in an origami-inspired geometry with facets and

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