Reconfigurable Modular Soft Actuator Using Origami Structures With Self-Healing Materials: Several Technological Opportunities for Robotic Applications

Abstract

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 (MSR) 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 MSRs. First, 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 downscalable and enables reconfiguration. Second, 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. Finally, these reversible bonds introduce a self-healing capacity to the MSRs, enabling recovery from macroscopic damages. All of these innovations are demonstrated experimentally on modular vacuum origami-based actuator modules, showing successful self-healing and reconfiguration capabilities.