Adaptive and Multi-object Grasping via Deformable Origami Modules

Abstract-- Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and reliable grasping performance. In this work, we present a multi-finger hybrid gripper featuring passively deformable origami modules that generate constant force and torque output. Each finger composed of parallel origami modules is driven by a 1-DoF actuator mechanism, enabling passive shape adaptability and stable grasping force without active sensing or feedback control. More importantly, we demonstrate an interesting capability in simultaneous multi-object grasping, which allows stacked objects of varied shape and size to be picked, transported and placed independently at different states, significantly improving manipulation efficiency compared to single-object grasping. As robotics continues to expand beyond industrial automation into unstructured environments and daily tasks, there is a growing demand for efficient grippers that can handle objects with varying geometries and stiffness, and even multi-object grasping [1].