Chapter 2 - Prototyping soft origami quad-bellows robots from single-bellows characterization

Abstract

Developing soft robots is an important research area for biomedical applications due to the advantages of soft robots over conventional hard or rigid-bodied robots, such as compliance, biocompatibility, and biomimicry. This project aims to design and prototype biomimetic soft origami robots that can navigate in transluminal applications. Starting from a single-bellows robot conceptualization, we characterized variations in actuation among prototypes made with materials of different thickness folded into a simple octagonal bellows design. The quad-bellows prototype utilized four-bellows units with the inclusion of a scope. This prototype achieved successful navigation of an 8mm borescope placed between 9mm bellows units through a lumen model. The soft robot was able to interact with the environment safely and adaptable for maneuvering through a compliant and torturous environment. These traits will allow the soft robot to be applicable in the field of colonoscopy, in which critical areas of improvement include minimizing patient discomfort and achieving skilled navigation of the colonoscope. The prototype could also be suitable for future applications that require in-pipe navigations around luminal environments.