Adaptive and Multi-object Grasping via Deformable Origami Modules

TL;DR

The paper addresses the challenge of robust grasping for fragile and geometrically varied objects under unstructured conditions. It introduces a multi-finger hybrid soft gripper that uses passively deformable origami modules to deliver constant force and torque with a 1-DoF actuation, enabling adaptive, sensor-free grasping. The work provides systematic characterization of two origami-module materials, demonstrates stable single-object grasping and efficient multi-object manipulation, and shows effectiveness on daily objects with complex shapes. The proposed approach offers a simple, scalable, sensor-free avenue for reliable pick-and-place in domestic and industrial contexts.

Abstract

Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and reliable grasping performance. In this work, we present a multi-finger hybrid gripper featuring passively deformable origami modules that generate constant force and torque output. Each finger composed of parallel origami modules is driven by a 1-DoF actuator mechanism, enabling passive shape adaptability and stable grasping force without active sensing or feedback control. More importantly, we demonstrate an interesting capability in simultaneous multi-object grasping, which allows stacked objects of varied shape and size to be picked, transported and placed independently at different states, significantly improving manipulation efficiency compared to single-object grasping. These results highlight the potential of origami-based compliant structures as scalable modules for adaptive, stable and efficient multi-object manipulation in domestic and industrial pick-and-place scenarios.

Figures (6)

• Figure 1: System design and functionality of a multi-finger hybrid gripper with passively deformable origami modules. (a) The whole and bottom view of the design gripper in fully open and closed states. (b) Adaptive grasping such as parallel and v-enveloping grasping using two or four fingers.
• Figure 2: Experimental setup and measuring results for (a) bending and (b) compression force of the origami module.
• Figure 3: Grasping and pull-out force tests under (a) v-enveloping grasp and (b) parallel grasp with experimental snapshots showing key grasping stages. The gripper fully grasps and the linear stage activates at t$_1$. At t$_2$, the top origami modules are fully pulled out. At t$_3$, the top modules have lost full contact and only the bottom modules are providing a grasping force. At t$_4$, the gripper has been fully pulled out. Constant force outputs occur in parallel grasping, for example, at time t$_3$.
• Figure 4: Multi-object grasping of stacked objects of various shapes and sizes, such as stacked spheres, cubes and cuboid blocks. The grasping process: pre-grasp position for stacked objects, multi-object grasping, multi-object picking, bottom object placing and top object placing.
• Figure 5: Comparison of single-object and multi-object grasping. (a) Process and grasping path for picking and placing stacked objects. (b) Path distance and process time.