A long and lightweight robotic arm is useful for unmanned aerial vehicles (UAVs) as it allows UAVs to perform tasks in the spaces where the body of the UAVs cannot access. We developed a foldable module with embeded locking mechanism. The locking mechanism takes advantage of the principle of perpendicular folding. The locker can be easily installed and removed by permanent magnets and a novel tendon-driven actuation method. A 700 mm long foldable robotic arm was demonstrated by connecting a series of modules. The arm can be folded flat with a single DC motor. 

HaptOGrasp is a lightweight, origami grasper that can render kinesthetic grip force feedback via pneumatic actuation. The actuator takes the form of the Yoshimura pattern, which allows for linear expansion and compression. At varying grasp widths, internal air pressure can be adjusted to render normal forces felt when grasping objects. We conducted a preliminary user study, in which participants used HaptOGrasp to grip a virtual object with a specified level of force, demonstrating the potential of the device to help with telemanipulation tasks requiring specific target forces during grasping.