Reconfigurable modular soft actuator using origami structures with self-healing materials

Modular designs in soft robots enable repair and
reconfiguration, making soft modular robots suitable for applications
where resilience, flexibility, and adaptability are critical.
This paper introduces a modular soft robot based on origami
actuator modules that are manufactured from reversible polymers,
e.g. self-healing polymers. This work highlights three key
innovations enabled by reversible polymers for modular soft
robots. Firstly, their reversible bonding capacity can be utilized
to create high-strength interfaces between modules relying on
strong covalent bonds. These interfaces can bond and debond
on demand through temperature control. This reversible joining
principle is down-scalable and enables reconfiguration. Secondly,
their reversible crosslinks allow for origami-based manufacturing
in the solid-state, involving sequential folding and binding. This
process transforms 2D structures into covalently bonded and
airtight 3D structures. Lastly, these reversible bonds introduce
a self-healing capacity to the modular soft robots, enabling
recovery from macroscopic damages. All these innovations are
demonstrated experimentally on modular vacuum origami-based
actuator modules, showing successful self-healing and reconfiguration
capabilities.