Origami offers a versatile framework for designing morphable structures and soft robots by exploiting the geometry of folds. Tubular origami structures can act as continuum manipulators that balance flexibility and strength. However, precise control of such manipulators often requires reliance on vision-based systems that limit their application in complex and cluttered environments. Here, we propose a proprioceptive tendon-driven origami manipulator without compromising its flexibility. Using conductive threads as actuating tendons, we multiplex them with proprioceptive sensing capabilities. The change in the active length of the tendons is reflected in their effective resistance, which can be measured with a simple circuit. We correlated the change in the resistance to the lengths of the tendons. We input this information into a forward kinematic model to reconstruct the manipulator configuration and end-effector position. This platform provides a foundation for the closed-loop control of continuum origami manipulators while preserving their inherent flexibility.

翻译：折纸通过利用折叠几何学，为设计可变形态结构与软体机器人提供了一个通用框架。管状折纸结构可作为连续体机械臂，平衡柔性与强度。然而，对此类机械臂的精确控制通常依赖于基于视觉的系统，这限制了其在复杂和杂乱环境中的应用。本文提出一种不牺牲其柔性的、具有本体感知能力的腱驱动折纸机械臂。我们使用导电纱线作为驱动腱，并使其兼具本体感知功能。驱动腱有效长度的变化反映在其有效电阻上，可通过简单电路进行测量。我们将电阻变化与驱动腱的长度相关联，并将此信息输入前向运动学模型，以重建机械臂的构型与末端执行器位置。该平台为连续体折纸机械臂的闭环控制奠定了基础，同时保留了其固有的柔性。