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This study examines a biology-inspired approach of using reconfigurablearticulation to reduce the control requirement for soft robotic arms. Weconstruct a robotic arm by assembling Kresling origami modules that exhibitpredictable bistability. Via switching between their two stable states, theseorigami modules can behave either like a flexible joint with low bendingstiffness or like a stiff link with high stiffness, without requiring anycontinuous power supply. In this way, the robotic arm can exhibitpseudo-linkage kinematics with lower control requirements and improved motionaccuracy. A unique advantage of using origami as the robotic arm skeleton isthat its bending stiffness ratio between stable states is directly related tothe underlying Kresling design. Therefore, we conduct extensive parametricanalyses and experimental validations to identify the optimized Kreslingpattern for articulation. The results indicate that a higher angle ratio, asmaller resting length at contracted stable state, and a large number ofpolygon sides can offer more significant and robust bending stiffness tuning.Based on this insight, we construct a proof-of-concept, tendon-driven roboticarm consisting of three modules, and show that it can exhibit the desiredreconfigurable articulation behavior. Moreover, the deformations of thismanipulator are consistent with kinematic model predictions, which validate thepossibility of using simple controllers for such compliant robotic systems.

Harnessing The Multi-Stability Of Kresling Origami For Reconfigurable Articulation In Soft Robotic Arms