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An underdeveloped capability in soft robotics is proprioceptive feedbackcontrol, where soft actuators can be sensed and controlled using only sensorson the robot's body. Additionally, soft actuators are often unable to supporthuman-scale loads due to the extremely compliant materials in use. Developingboth feedback control and the ability to actuate under large loads (e.g. 500 N)are key capacities required to move soft robotics into everyday applications.In this work, we independently demonstrate these key factors towardscontrolling and actuating human-scale loads: proprioceptive (embodied) feedbackcontrol of a soft, pneumatically-actuated origami robot; and actuation of theseorigami origami robots under a person's weight in an open-loop configuration.In both demonstrations, the actuators are controlled by internal fluidicpressure. Capacitive sensors patterned onto the robot provide positionestimation and serve as input to a feedback controller. We demonstrate positioncontrol of a single actuator during stepped setpoints and sinusoidal trajectoryfollowing, with root mean square error (RMSE) below 4 mm. We also showcase theactuator's potential towards human-scale robotics as an "origami balance board"by joining three actuators into an open-loop controlled system with a platformthat varies its height, roll, and pitch. This work contributes to the field ofsoft robotics by demonstrating closed-loop feedback position control withoutvisual tracking as an input and lightweight, soft actuators that can support aperson's weight. The project repository, including videos, CAD files, and ROScode, is available at https://parses-lab.github.io/kresling_control.

Hold 'em and Fold 'em: Towards Human-scale, Feedback-Controlled Soft Origami Robots