Origami robots have garnered attention due to their versatile deformation and potential applications, particularly for medical applications. In this article, we propose a Yoshimura continuum manipulator (YoMo) that can achieve accurate control of the tip position for the magnetic resonance (MR) environment. The YoMo made of a single piece of paper is cable-actuated to generate the bending and shortening deformation. The paper-based YoMo attached to an arc frame can readily function under different orientations in the MR environment. The design and fabrication of YoMo were formulated according to the Yoshimura folding pattern. The kinematics model based on constant curvature assumption was derived as a benchmark method to predict the tip position of the YoMo. The Koopman operator theory was applied to describe the relationship between the tip position and the length change under different orientations. The linear quadratic regulator integrated into the Koopman-based model (K-LQR) was adopted to achieve the trajectory tracking. Comprehensive experiments were carried out to examine the proposed YoMo, its modeling and control methods. The performance of the YoMo including stiffness and workspace was characterized via a customized test setup. The Koopman-based method demonstrates the superiority over the constant curvature-based model to predict the tip position. The K-LQR control method was examined with different trajectories, and the impact of the orientation, speed, and different trajectories were taken into consideration. The results demonstrate the YoMo is capable of achieving trajectory tracking with satisfied accuracy, indicating its potential for medical applications in the MR environment.

中文翻译：

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YoMo： 用于 MR 环境的 Yoshimura Continuum 机械手。


折纸机器人因其多功能变形和潜在应用而受到关注，尤其是医疗应用。在本文中，我们提出了一种 Yoshimura 连续介质机械手 （YoMo），它可以在磁共振 （MR） 环境中实现对尖端位置的精确控制。YoMo YoMo 青少年移动嘉年华由一张纸制成，由电缆驱动，以产生弯曲和缩短变形。附着在弧形框架上的纸基 YoMo 可以在 MR 环境中的不同方向上轻松发挥作用。YoMo YoMo 的设计和制造是根据 Yoshimura 折叠图案制定的。推导了基于恒定曲率假设的运动学模型，作为预测 YoMo 滚尖位置的基准方法。应用 Koopman 算子理论来描述不同取向下尖端位置与长度变化之间的关系。采用集成到 Koopman 模型 （K-LQR） 中的线性二次稳压器来实现轨迹跟踪。进行了全面的实验，以检验所提出的 YoMo 青年移动嘉年华及其建模和控制方法。YoMo YoMo 移动嘉年华的性能（包括刚度和工作空间）通过定制的测试设置进行了表征。基于 Koopman 的方法证明了在预测尖端位置方面优于基于恒定曲率的模型。用不同的轨迹考察了 K-LQR 控制方法，并考虑了方向、速度和不同轨迹的影响。结果表明，YoMo YoMo 能够以令人满意的精度实现轨迹跟踪，这表明它在 MR 环境中的医疗应用潜力。