MAGNETICALLY ACTUATED MULTISTABLE KRESLING ORIGAMI MODULES FOR A RECONFIGURABLE SOFT ROBOTIC ARM
Abstract
The Kresling class of origami structures provides a versatile basis for soft robotic applications due to its multistability, flexibility, and modularity. In this work, we design and fabricate a multi-directional modular soft robotic arm composed of Kresling origami modules, with a focus on achieving tristable behavior. Each Kresling module exhibits a coupled rotation–translation motion: when a rotational torque is applied to its base, the origami extends or contracts vertically, enabling up to six degrees of freedom (6-DOF) motion. By varying key geometric parameters of the Kresling pattern, such as panel aspect ratio and interior angle, we tune the number of stable states and the strain energy profile of the system. We explore diverse fabrication methods, 3D printing (using flexible polymers) and laser cutting (using thin sheets) to realize Kresling modules with localized flexibility at fold joints and rigidity in panels. Neodymium magnets embedded in the base of each module enable magnetic actuation: an external electromagnetic coil array applies controlled magnetic fields to induce torques on the magnets, thereby rotating and deforming the modules. Using a custom 2D Helmholtz coil system, we demonstrate multi-directional bending and extension of a three-module Kresling origami arm without any on-board motors. The resulting soft robotic arm is lightweight, scalable, and reconfigurable, achieving an elevated degree of mobility and controllability using minimal hardware. This approach highlights the potential of multistable origami structures in soft robotics, from continuum manipulators to deployable nanorobots. The arm’s design, fabrication, and actuation are discussed in detail, and its performance is characterized, showing high maneuverability and programmable stability states. Applications for this technology range from general robotics to medical devices (e.g., steerable catheters or drug delivery systems), where multi-DOF motion and a compact, motor-free actuation are highly desirable.
Publication Title
Proceedings of the ASME Design Engineering Technical Conference
Recommended Citation
Alyousef, O., Saunders, N., Batte, J., Buchanan, J., & Agarwal, V. (2025). MAGNETICALLY ACTUATED MULTISTABLE KRESLING ORIGAMI MODULES FOR A RECONFIGURABLE SOFT ROBOTIC ARM. Proceedings of the ASME Design Engineering Technical Conference, 5 https://doi.org/10.1115/DETC2025-169747
