Science Robotics

Supplementary Materials

Supplementary Material for:

An origami-inspired, self-locking robotic arm that can be folded flat

Suk-Jun Kim, Dae-Young Lee, Gwang-Pil Jung, Kyu-Jin Cho*

*Corresponding author. Email: kjcho{at}

Published 14 March 2018, Sci. Robot. 3, eaar2915 (2018)
DOI: 10.1126/scirobotics.aar2915

This PDF file includes:

  • Text
  • Fig. S1. Results of performance experiment: Bending (sample size: N = 5).
  • Fig. S2. Results of performance experiment: Compression (sample size: N = 5).
  • Fig. S3. Results of performance experiment: Tensile stiffness (sample size: N = 5).
  • Fig. S4. Results of performance experiment: Robustness (sample size: N = 3).
  • Fig. S5. Force-displacement graph under compressive and bending loads.
  • Fig. S6. Experimental setup.
  • Fig. S7. Experimental setup for repeatedly folding the module.
  • Fig. S8. Origami-inspired pattern design of the foldable module.
  • Fig. S9. Schematics of the foldable module for tendon friction modeling.
  • Fig. S10. The lightweight and compact buckling gripper.
  • Fig. S11. Fabricated samples with different variable sets.
  • Table S1. Variables for the foldable module assuming l, h, w = 40, 100, 16 (mm).
  • Table S2. Specifications for the foldable arm.
  • Table S3. Tensile test results of ripstop fabric.
  • Table S4. Parameters chosen for the buckling gripper.
  • Table S5. Experimental results of performance study experiment: Compression.
  • Table S6. Experimental results of performance study experiment: Bending.
  • Table S7. Experimental results of application performance experiment.
  • Legends for movies S1 to S5
  • Reference (40)

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Tendon-driven foldable module.
  • Movie S2 (.mp4 format). Foldable module with locking mechanism.
  • Movie S3 (.mp4 format). Foldable arm indoor test.
  • Movie S4 (.mp4 format). Foldable arm outdoor test.
  • Movie S5 (.mp4 format). Lightweight and compact buckling gripper.

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