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A wheel drive mechanism is simple, stable, and efficient, but its mobility in unstructured terrain is seriously limited. Using a deformable wheel is one of the ways to increase the mobility of a wheel drive robot. By changing the radius of its wheels, the robot becomes able to pass over not only high steps but also narrow gaps. In this article, we propose a novel design for a variable-diameter wheel using an origami-based soft robotics design approach. By simply folding a patterned sheet into a

Composite membrane origami has been an efficient and effective method for constructing transformable mechanisms while considerably simplifying their design, fabrication, and assembly; however, its limited load-bearing capability has restricted its application potential. With respect to wheel design, membrane origami offers unique benefits compared with its conventional counterparts, such as simple fabrication, high weight-to-payload ratio, and large shape variation, enabling softness and flexibi

In this paper, we present a deformable wheel robot using the ball-shaped waterbomb origami pattern, so-called magic-ball pattern. The magic-ball origami pattern is a well-known pattern that changes its shape from a long cylindrical tube to a flat circular tube. By using this special structure, a wheel with mechanical functionalities can be achieved without using many mechanical parts. Moreover, because of the characteristic that the structure constrains its own movement, it is possible to contro

With advances in mobile computing and virtual/augmented reality technologies, communicating through touch using wearable haptic devices is poised to enrich and augment current information delivery channels that typically rely on sight and hearing. To realize a wearable haptic device capable of effective data communication, both ergonomics and haptic performance (i.e., array size, bandwidth, and perception accuracy) are essential considerations. However, these goals often involve challenging and

Origami is the traditional Japanese art of paper folding. Due to its fascinating properties, several attempts are being actively made to expand applications of origami-inspired designs in engineering. This paper presents the design of a deformable wheel based on an origami structure that was integrated with a small-scale mobile robot. The wheel of the robot employs an origami structure proposed by Guest et al. All segments of the structure are connected by links-i.e., folding lines-and this link

As a steerable needle or robotic manipulator, the concentric-tube robot shows good potential for use in minimally invasive medical procedures. However, the torsional deformation of the precurved tubes comes at the price of instability, which not only limits the workspace and tool path but also potentially creates danger of tissue rupture when external load is applied. In this paper, we propose anisotropic patterning of tubes to solve the instability problem. Hole-patterning can tune the mechanic