Electrostatically Driven Multi-Chamber Accordion Origami Air Pump

Pneumatic soft robots offer outstanding flexibility and safety in human-robot interactions. However, achieving full integration requires air sources that are not only highly flexible but also lightweight. Existing soft air pumps are often constrained by structural limitations and inadequate output performance. While dielectric liquid-amplified electrostatic actuation offers a promising solution due to its simplicity and high force density, its lack of self-recovery capability hinders its practical application. In this study, we present a multi-chamber accordion-type air pump that integrates electrostatic actuation with a fully collapsible origami structure. The accordion-inspired design ensures complete electrode engagement during actuation, while its multi-pleat geometry forms sequential pumping chambers, thereby improving both pressure and flow performance. Experimental validation shows that the proposed pump achieves a peak output pressure of 5.66 kPa and a flow rate of 426 mL/min. This architecture not only improves self-recovery but also maintains structural compactness, providing a promising solution for untethered pneumatic soft robotics.