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First, a modularization concept and a hybrid actuation scheme to create a novel origami continuum manipulator with exceptional deformability are introduced. Second, an accurate model and framework for the forward and inverse kinematic analysis of origami manipulators are proposed. Specifically, each origami manipulator module can achieve axial extension and bending deformation by coordinated actuation of shape memory alloy (SMA) and pneumatic muscles, and the manipulator's end is equipped with a deformable gripper based on waterbomb origami and actuated by SMA. Through careful consideration of the self\u2010weight and torque balance, an accurate kinematic model based on the Denavit\u2013Hartenberg method is established, which enables one to effectively predict the reachable extreme positions and spatial poses of the manipulator and solve the inverse kinematics using a genetic algorithm. Comprehensive experiments are conducted to validate the design's rationality and model's accuracy . In these tests, the rich spatial configurations are not only demonstrated that can be achieved by integrating hybrid actuators with origami modules but also the accuracy and reliability of the kinematic model are confirmed, opening up possibilities for the advancement and application of origami\u2010inspired robotics in various fields.<\/jats:p>","DOI":"10.1002\/aisy.202300468","type":"journal-article","created":{"date-parts":[[2024,2,1]],"date-time":"2024-02-01T01:40:45Z","timestamp":1706751645000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["An Origami Continuum Manipulator with Modularized Design and Hybrid Actuation: Accurate Kinematic Modeling and Experiments"],"prefix":"10.1002","volume":"6","author":[{"given":"Qiwei","family":"Zhang","sequence":"first","affiliation":[{"name":"Yiwu Research Institute Fudan University  Yiwu 322000 China"},{"name":"Institute of AI and Robotics Fudan University  Shanghai 200433 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kangning","family":"Tan","sequence":"additional","affiliation":[{"name":"Jiangsu Provincial Key Laboratory of Special Robot Technology Changzhou Campus Hohai University  Changzhou 213022 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zihan","family":"He","sequence":"additional","affiliation":[{"name":"Institute of AI and Robotics Fudan University  Shanghai 200433 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongsen","family":"Pang","sequence":"additional","affiliation":[{"name":"Institute of AI and Robotics Fudan University  Shanghai 200433 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0475-3769","authenticated-orcid":false,"given":"Yanjie","family":"Wang","sequence":"additional","affiliation":[{"name":"Jiangsu Provincial Key Laboratory of Special Robot Technology Changzhou Campus Hohai University  Changzhou 213022 China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6691-0531","authenticated-orcid":false,"given":"Hongbin","family":"Fang","sequence":"additional","affiliation":[{"name":"Yiwu Research Institute Fudan University  Yiwu 322000 China"},{"name":"Institute of AI and Robotics Fudan University  Shanghai 200433 China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2024,1,31]]},"reference":[{"key":"e_1_2_7_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2016.2636199"},{"key":"e_1_2_7_3_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919886047"},{"key":"e_1_2_7_4_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0134"},{"key":"e_1_2_7_5_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4025025"},{"key":"e_1_2_7_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2489500"},{"key":"e_1_2_7_7_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910368147"},{"key":"e_1_2_7_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.861458"},{"key":"e_1_2_7_9_1","doi-asserted-by":"crossref","unstructured":"L.Zhang M.Xu H.Yang in2017 IEEE Int. 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