{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T08:52:24Z","timestamp":1780476744535,"version":"3.54.1"},"reference-count":23,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2017,9,7]],"date-time":"2017-09-07T00:00:00Z","timestamp":1504742400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2018,2]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper describes a new robotic manipulator with three fingers based on an origami twisted tower design. The design specifications, kinematic description, and results from the stiffness and durability tests for the selected origami design are presented. The robotic arm is made of a 10-layer twisted tower, actuated by four cables with pulleys driven by servo motors. Each finger is made of a smaller 11-layer tower and uses a single cable directly attached to a servo motor. The current hardware setup supports vision-based autonomous control and internet-based remote control in real time. For preliminary evaluation of the robot's object manipulation capabilities, arbitrary objects with varying weights, sizes, and shapes (i.e., a shuttlecock, an egg shell, a paper cub, and a cubic block) were selected and the rate of successful grasping and lifting for each object was measured. In addition, an experiment comparing a rigid gripper and the new origami-based manipulator revealed that the origami structure in the fingers absorbs the excessive force applied to the object through force distribution and structural deformation, demonstrating its potential applications for effective manipulation of fragile objects.<\/jats:p>","DOI":"10.1017\/s0263574717000340","type":"journal-article","created":{"date-parts":[[2017,9,7]],"date-time":"2017-09-07T06:08:52Z","timestamp":1504764532000},"page":"261-274","source":"Crossref","is-referenced-by-count":106,"title":["Design and analysis of an origami-based three-finger manipulator"],"prefix":"10.1017","volume":"36","author":[{"given":"Donghwa","family":"Jeong","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kiju","family":"Lee","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2017,9,7]]},"reference":[{"key":"S0263574717000340_ref5","unstructured":"P. Jackson , \u201cFolding Techniques for Designers: From Sheet to Form,\u201d Pap\/Cdr. Laurence King Publishers (2011)."},{"key":"S0263574717000340_ref4","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0914069107"},{"key":"S0263574717000340_ref19","first-page":"45","article-title":"Kinematics and the implementation of an elephant's trunk manipulator and other continuum style robots","volume":"20","author":"Hannan","journal-title":"Journal of Field Robotics"},{"key":"S0263574717000340_ref14","doi-asserted-by":"crossref","unstructured":"D. Jeong and K. Lee , \u201cAn Amphibious Robot with Reconfigurable Origami Wheels for Locomotion in Dynamic Environment,\u201d Proceedings of International Mechanical Engineering Congress & Exposition, Houston, TX, Nov. 13\u201319, 2015.","DOI":"10.1115\/IMECE2015-53081"},{"key":"S0263574717000340_ref22","doi-asserted-by":"crossref","unstructured":"N. G. Cheng , M. B. Lobovsky , S. J. Keating , A. M. Setapen , K. I. Gero , A. E. Hosoi , and K. D. Iagemma , \u201cDesign and Analysis of a Robust, Low-Cost, Highly Articulated Manipulator Enabled by Jamming of Granular Media,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Saint Paul, Minnesota, USA, May 14\u201318, 2012.","DOI":"10.1109\/ICRA.2012.6225373"},{"key":"S0263574717000340_ref13","doi-asserted-by":"crossref","unstructured":"D. Y. Lee , G. P. Jung , M. K. Sin , S. H. Ahn , and K. J. Cho , \u201cDeformable Wheel Robot Based on Origami Structure,\u201d Proceedings of the IEEE ICRA","DOI":"10.1109\/ICRA.2013.6631383"},{"key":"S0263574717000340_ref2","doi-asserted-by":"crossref","unstructured":"T. Tachi , \u201c3D Origami Design based on Tucking Molecule,\u201d Proceedings of the 4th International Conference on Origami in Science, Mathematics, and Education, pp. 259\u2013272, Pasadena, CA, Sep. 8\u201310, 2006.","DOI":"10.1201\/b10653-27"},{"key":"S0263574717000340_ref1","unstructured":"E. VanderHoff , D. Jeong and K. Lee , \u201cOrigamiBot-I: A Thread-Actuated Origami Robot for Manipulation and Locomoti on,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 1421\u20131426, Chicago, IL, USA, Sep. 14\u201318, 2014."},{"key":"S0263574717000340_ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908090235"},{"key":"S0263574717000340_ref12","doi-asserted-by":"crossref","unstructured":"C. D. Onal , R. J. Wood and D. Rus , \u201cTowards Printable Robotics: Origami-Inspired Planar Fabrication of Three-Dimensional Mechanisms,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, pp. 4608\u20134612, Shanghai, China, May 9\u201313, (2011) pp. 4608\u20134613.","DOI":"10.1109\/ICRA.2011.5980139"},{"key":"S0263574717000340_ref16","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/6\/3\/036002"},{"key":"S0263574717000340_ref7","doi-asserted-by":"publisher","DOI":"10.1260\/026635107782218868"},{"key":"S0263574717000340_ref20","unstructured":"W. McMahan , M. Pritts , V. Chitrakara , D. Dienno , B. Jones , M. Grissom , M. Csencsits , V. Iyengar , I. D. Walker , C. D. Rahn and D. Dawson , \u201cDesign and Experimental Testing of the OctArm Soft Robot Manipulator,\u201d SPIE Defense and Security Symposium, Orlando, FL, April 18\u201320, 2006."},{"key":"S0263574717000340_ref8","doi-asserted-by":"crossref","unstructured":"J. Ma and Z. You , \u201cThe Origami Crash Box,\u201d Proceedings of the 5th International Meeting of Origami Science, Mathematics, and Education, pp. 277\u2013290, CRC Press, Boca Ranton, FL, 2011.","DOI":"10.1201\/b10971-26"},{"key":"S0263574717000340_ref15","doi-asserted-by":"crossref","unstructured":"J. Koh and K. Cho , \u201cOmegabot: Biomimetic Inchworm Robot Using SMA Coil Actuator and Smart Composite Microstructures (SCM),\u201d Proceedings of the IEEE International Conference on Robotics and Biomimetics, pp. 1154\u20131158, Guilin, China, Dec. 18\u201322, 2009.","DOI":"10.1109\/ROBIO.2009.5420752"},{"key":"S0263574717000340_ref3","doi-asserted-by":"crossref","unstructured":"W. Wu and Z. You , \u201cModeling rigid origami with quternions and dual quaternions,\u201d Proceedings of the Royal Society A: Mathematical, Physical and Engineering Science, 466, 2155\u20132174, 2010.","DOI":"10.1098\/rspa.2009.0625"},{"key":"S0263574717000340_ref11","doi-asserted-by":"crossref","unstructured":"C. C. Min and H. Suzuki , \u201cGeometrical Properties of Paper Spring,\u201d Manufacturing Systems and Technologies for New Frontier, pp. 159\u2013162 (2008).","DOI":"10.1007\/978-1-84800-267-8_32"},{"key":"S0263574717000340_ref18","doi-asserted-by":"publisher","DOI":"10.1115\/1.1447546"},{"key":"S0263574717000340_ref9","first-page":"012001","article-title":"A Biomorphic Origami Actuator Fabricated by Folding a Conducting Paper","volume":"127","author":"Okuzaki","year":"2008","journal-title":"Journal of Physics: Conference Series"},{"key":"S0263574717000340_ref21","doi-asserted-by":"publisher","DOI":"10.1126\/science.1252610"},{"key":"S0263574717000340_ref10","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201102978"},{"key":"S0263574717000340_ref6","doi-asserted-by":"crossref","unstructured":"M. Schenk and S. D. 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