Approximating complex 3D curves using origami spring structures

Abstract

Origami provides a versatile platform for creating intricate three-dimensional (3D) reconfigurable structures through folding techniques. However, the applications of origami patterns are restricted due to limited deformation modes and complex actuation. Here we explore origami spring structures as a solution to address these limitations by approximating complex 3D curves with an underactuated scheme. By doing so, we showcase the reconfigurability and versatility of origami springs while tackling control complexity. Through the introduction of virtual creases, we simplify non-rigid deformations and enable accurate descriptions of their 3D configurations. Furthermore, we develop inverse kinematics optimization algorithms to determine optimal configurations closely approximating given 3D curves with full actuation and underactuated situations. Experimental realization of various 3D curves demonstrates the feasibility and effectiveness of our proposed approach. This research could find practical utility in soft robotics, flexible mechanisms, and deployable structures.