Electromagnetic actuator design for distributed stiffness

Origami robots characterized by rigid plates linked together with flexible joints have inherent compliance and large deformations. Their low-profile design and folding mechanical transmissions provide substantial force and torque, especially for wearables and human-interactive devices. The current major limitation in the field is the need for embeddable dynamic actuation systems that produce actuation frequencies similar to human motion. In this study, we propose a novel low-profile printable electromagnetic actuator that can be integrated into thin large robotic surfaces made of rigid panels and into the streamlined pushbutton manufacturing process. We use already existing variable stiffness joints to demonstrate the scalability and distributable properties of the proposed actuation system on a locally controllable variable-stiffness distributed surface.