In this paper, a Four-Crease Origami Gripper (FCOG) is designed. The kinematic model of the FCOG is derived. The correctness of the theoretical model is verified through experimental tests. To describe the performance of the FCOG, two parameters are defined, that is, capacity ratio and load ratio. The capacity ratio describes the configuration characteristics of the FCOG, which has been validated through experiments and analysis. The load ratio describes the load-bearing performance. The experiments show that the FCOG can meet the requirements of strength and load performance. Finally, the future potential applications of the FCOG are discussed.
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