Modular multi-degree-of-freedom soft origami robots with reprogrammable electrothermal actuation

Soft robots often draw inspiration from nature to navigate different environments. Although the inching motion and crawling motion of caterpillars have been widely studied in the design of soft robots, the steering motion with local bending control remains challenging. To address this challenge, we explore modular origami units which constitute building blocks for mimicking the segmented caterpillar body. Based on this concept, we report a modular soft Kresling origami crawling robot enabled by electrothermal actuation. A compact and lightweight Kresling structure is designed, fabricated, and characterized with integrated thermal bimorph actuators consisting of liquid crystal elastomer and polyimide layers. With the modular design and reprogrammable actuation, a multiunit caterpillar-inspired soft robot composed of both active units and passive units is developed for bidirectional locomotion and steering locomotion with precise curvature control. We demonstrate the modular design of the Kresling origami robot with an active robotic module picking up cargo and assembling with another robotic module to achieve a steering function. The concept of modular soft robots can provide insight into future soft robots that can grow, repair, and enhance functionality.

Multi-Sensor Origami Platform: A Customizable System for Obtaining Spatiotemporally Precise Functional Readouts in 3D Models

Bioprinting technology offers unprecedented opportunities to construct in vitro tissue models that recapitulate the 3D morphology and functionality of native tissue. Yet, it remains difficult to obtain adequate functional readouts from such models. In particular, it is challenging to position sensors in desired locations within pre-fabricated 3D bioprinted structures. At the same time, bioprinting tissue directly onto a sensing device is not feasible due to interference with the printer head. As such, a multi-sensing platform inspired by origami that overcomes these challenges by "folding" around a separately fabricated 3D tissue structure is proposed, allowing for the insertion of electrodes into precise locations, which are custom-defined using computer-aided-design software. The multi-sensing origami platform (MSOP) can be connected to a commercial multi-electrode array (MEA) system for data-acquisition and processing. To demonstrate the platform, how integrated 3D MEA electrodes can record neuronal electrical activity in a 3D model of a neurovascular unit is shown. The MSOP also enables a microvascular endothelial network to be cultured separately and integrated with the 3D tissue structure. Accordingly, how impedance-based sensors in the platform can measure endothelial barrier function is shown. It is further demonstrated the device's versatility by using it to measure neuronal activity in brain organoids.

Swing Origami-Structure-Based Triboelectric Nanogenerator for Harvesting Blue Energy toward Marine Environmental Applications

The appearance of triboelectric nanogenerators (TENG) provides a promising energy technology for harvesting abundant water wave energy. Here, the design and fabrication of a swinging origami-structured TENG (SO-TENG) tailored specifically for water wave energy harvesting are presented. The design incorporates an oscillating structure weighted at the bottom, inducing reciprocating motion propelled by the inertia of passing water waves. This reciprocating motion efficiently converts mechanical into electrical energy through the origami structure. By employing origami as the monomer structure, the surface contact area between friction layers is enhanced, thereby optimizing output performance. the swinging structure, combined with the placement of heavy objects, enhances the folding and contact of the origami, allowing it to operate effectively in low-frequency water wave environments. This configuration exhibits robust power generation capabilities, making it suitable for powering small electronic devices in water wave environments. Furthermore, when applied to metal corrosion protection, the SO-TENG demonstrates notable efficacy. Compared to exposed Q235 carbon steel, Q235 carbon steel protected by SO-TENG exhibits a significant reduction in open-circuit potential drop, approximately 155 mV, indicative of superior anti-corrosion properties. It lays a solid foundation for water wave energy collection and self-powered metal corrosion protection in marine environments.

Origami Polyhedra-Based Soft Multicellular Robots

The reconfigurable and modular method, and the adaptive morphology method are two main methodologies to achieve the multimodal robots. Basically, the former method mimics the biological multicellular systems, while the latter is mostly inspired by the multimodal animals. Herein inspired by the rhombic dodecahedron (RDD) origami model, a novel type of soft multicellular robots with multimodal locomotion is presented. Morphologically, the combinable and expandable three-dimensional (3D)-printed soft RDD cells are assembled into several typical patterns: in-line, cross shaped, oblong shaped, and parallelogra shaped. The kinematics based on the sequential monolithic deformations of soft RDDs is analyzed to generate multimodal locomotion: peristaltic crawling, two-anchor crawling, crawling with turning functions, and omnidirectional crawling through the propagating waves in two orthogonal directions. More encouragingly, without reorganizing the pattern or reshaping the morph, the in-line multicellular robots manifest excellent climbing abilities, where the built-in rhombic meshes alternately tighten and loosen the pole-like structures to provide the gripping forces reliably without sacrificing mobility. To wrap up, owing to the monolithic and hierarchical deformability, high reconfigurability, and 3D-printable manufacturability of the RDD, we anticipate that the soft multicellular robot can potentially manifest further contributions to the advanced robotics with embodied intelligence, such as task-oriented self-assembly robots, self-reconfigurable robotic systems, and goal-directed metamorphosis robots.

3D and 4D assembly of functional structures using shape-morphing materials for biological applications

3D structures are crucial to biological function in the human body, driving interest in their in vitro fabrication. Advances in shape-morphing materials allow the assembly of 3D functional materials with the ability to modulate the architecture, flexibility, functionality, and other properties of the final product that suit the desired application. The principles of these techniques correspond to the principles of origami and kirigami, which enable the transformation of planar materials into 3D structures by folding, cutting, and twisting the 2D structure. In these approaches, materials responding to a certain stimulus will be used to manufacture a preliminary structure. Upon applying the stimuli, the architecture changes, which could be considered the fourth dimension in the manufacturing process. Here, we briefly summarize manufacturing techniques, such as lithography and 3D printing, that can be used in fabricating complex structures based on the aforementioned principles. We then discuss the common architectures that have been developed using these methods, which include but are not limited to gripping, rolling, and folding structures. Then, we describe the biomedical applications of these structures, such as sensors, scaffolds, and minimally invasive medical devices. Finally, we discuss challenges and future directions in using shape-morphing materials to develop biomimetic and bioinspired designs.

Active Materials for Functional Origami

In recent decades, origami has been explored to aid in the design of engineering structures. These structures span multiple scales and have been demonstrated to be used toward various areas such as aerospace, metamaterial, biomedical, robotics, and architectural applications. Conventionally, origami or deployable structures have been actuated by hands, motors, or pneumatic actuators, which can result in heavy or bulky structures. On the other hand, active materials, which reconfigure in response to external stimulus, eliminate the need for external mechanical loads and bulky actuation systems. Thus, in recent years, active materials incorporated with deployable structures have shown promise for remote actuation of light weight, programmable origami. In this review, active materials such as shape memory polymers (SMPs) and alloys (SMAs), hydrogels, liquid crystal elastomers (LCEs), magnetic soft materials (MSMs), and covalent adaptable network (CAN) polymers, their actuation mechanisms, as well as how they have been utilized for active origami and where these structures are applicable is discussed. Additionally, the state-of-the-art fabrication methods to construct active origami are highlighted. The existing structural modeling strategies for origami, the constitutive models used to describe active materials, and the largest challenges and future directions for active origami research are summarized.

Variable Stiffness Fibers Enabled Universal and Programmable Re-Foldability Strategy for Modular Soft Robotics

Origami is a rich source of inspiration for creating soft actuators with complex deformations. However, implementing the re-foldability of origami on soft actuators remains a significant challenge. Herein, a universal and programmable re-foldability strategy is reported to integrate multiple origami patterns into a single soft origami actuator, thereby enabling multimode morphing capability. This strategy can selectively activate and deactivate origami creases through variable stiffness fibers. The utilization of these fibers enables the programmability of crease pattern quantity and types within a single actuator, which expands the morphing modes and deformation ranges without increasing their physical size and chamber number. The universality of this approach is demonstrated by developing a series of re-foldable soft origami actuators. Moreover, these soft origami actuators are utilized to construct a bidirectional crawling robot and a multimode soft gripper capable of adapting to object size, grasping orientation, and placing orientation. This work represents a significant step forward in the design of multifunctional soft actuators and holds great potential for the advancement of agile and versatile soft robots.

Bio-Inspired Dynamically Morphing Microelectronics toward High-Density Energy Applications and Intelligent Biomedical Implants

Choreographing the adaptive shapes of patterned surfaces to exhibit designable mechanical interactions with their environment remains an intricate challenge. Here, a novel category of strain-engineered dynamic-shape materials, empowering diverse multi-dimensional shape modulations that are combined to form fine-grained adaptive microarchitectures is introduced. Using micro-origami tessellation technology, heterogeneous materials are provided with strategic creases featuring stimuli-responsive micro-hinges that morph precisely upon chemical and electrical cues. Freestanding multifaceted foldable packages, auxetic mesosurfaces, and morphable cages are three of the forms demonstrated herein of these complex 4-dimensional (4D) metamaterials. These systems are integrated in dual proof-of-concept bioelectronic demonstrations: a soft foldable supercapacitor enhancing its power density (≈108 mW cm-2 ), and a bio-adaptive device with a dynamic shape that may enable novel smart-implant technologies. This work demonstrates that intelligent material systems are now ready to support ultra-flexible 4D microelectronics, which can impart autonomy to devices culminating in the tangible realization of microelectronic morphogenesis.

Ternary Nanostructure Coupling Flip-Flap Origami-Based Aptasensor for the Detection of Dengue Virus Antigens

There is currently a lot of interest in the construction of point-of-care devices stemming from paper-based origami biosensors. These devices demonstrate how paper's foldability permits the construction of sensitive, selective, user-friendly, intelligent, and maintainable analytical devices for the detection of several ailments. Herein, the first example of the electrochemical aptasensor-based polyvalent dengue viral antigen detection using the origami paper-folding method is presented. Coupling it with an aptamer leads to the development of a new notation known as OBAs, or origami-based aptasensor, that presents a multitude of advantages to the developed platform, such as assisting in safeguarding the sample from air-dust particles, providing confidentiality, and providing a closed chamber to the electrodes. In this paper, gold-decorated nanocomposites of zinc and graphene oxide (Au/ZnO/GO) were synthesized via the chemical method, and characterization was conducted by Scanning Electron Microscope, Transmission Electron Microscope, UV-Vis, and XRD which reveals the successful formation of nanocomposites, mainly helping to enhance the signal and specificity of the sensor by employing aptamers, since isolation and purification procedures are not required. The biosensor that is being demonstrated here is affordable, simple, and efficient. The reported biosensor is an OBA detection of polyvalent antigens of the dengue virus in human serum, presenting a good range from 0.0001 to 0.1 mg/mL with a limit of detection of 0.0001 mg/mL. The reported single-folding ori-aptasensor demonstrates exceptional sensitivity, specificity, and performance in human serum assays, and can also be used for the POC testing of various viral infections in remote areas and underdeveloped countries, as well as being potentially effective during outbreaks. Highlights: (1) First report on origami-based aptasensors for the detection of polyvalent antigens of DENV; (2) In-house construction of low-cost origami-based setup; (3) Gold-decorated zinc/graphene nanocomposite characterization was confirmed via FESEM/UV-Vis/FTIR; (4) Cross-reactivity of dengue-aptamer has been deduced; (5) Electrochemical validation was conducted through CV.

Design of a Shape-Memory-Alloy-Based Carangiform Robotic Fishtail with Improved Forward Thrust

Shape memory alloys (SMAs) have become the most common choice for the development of mini- and micro-type soft bio-inspired robots due to their high power-to-weight ratio, ability to be installed and operated in limited space, silent and vibration-free operation, biocompatibility, and corrosion resistance properties. Moreover, SMA spring-type actuators are used for developing different continuum robots, exhibiting high degrees of freedom and flexibility. Spring- or any elastic-material-based antagonistic or biasing force is mostly preferred among all other biasing techniques to generate periodic oscillation of SMA actuator-based robotic body parts. In this model-based study, SMA-based spring-type actuators were used to develop a carangiform-type robotic fishtail. Fin size optimization for the maximization of forward thrust was performed for the developed system by varying different parameters, such as caudal fin size, current through actuators, pulse-width modulation signal (PWM), and operating depth. A caudal fin with a mixed fin pattern between the Lunate and Fork "Lunafork" and a fin area of approximately 5000 mm2 was found to be the most effective for the developed system. The maximum forward thrust developed by this fin was recorded as 40 gmf at an operation depth of 12.5 cm in a body of still water.

A Design Method for Rectangular Waveguide-Typed Microwave Devices Based on a Novel Origami Process

A novel design method based on a novel origami process that can create a solid structure swiftly and at a low cost is presented for rectangular waveguide-type microwave devices in this paper. A planar structure was fabricated by the lamination and laser cutting of polystyrene membranes and aluminum foils and was converted into a solid structure via origami in accordance with the selective absorption of infrared light. A rectangular waveguide, a rectangular waveguide-type coupler, and a power divider based on an origami structure with a multi-layer structure and a single-layer structure were fabricated and tested, demonstrating easy assembly and good microwave performance. The measured results of the rectangular waveguide indicated that the insertion loss was superior to -0.9 dB. Meanwhile, the results of the coupler showed that the coupling degree increased from -12.8 dB to -8.9 dB in the range of 11.0 GHz to 12.0 GHz. Correspondingly, the prepared power divider demonstrated that the return loss dwindled from -8.9 dB to -11.3 dB and that the insertion loss of one output port was approximate to that of the remaining one, varying between -3.5 dB and -5.2 dB in the range of 10.5 GHz to 11.5 GHz-verifying the effectiveness of the origami-based design method.

Origami-inspired Bionic Soft Robot Stomach with Self-Powered Sensing

The stomach is a vital organ in the human digestive system, and its digestive condition is critical to human health. The physical movement of the stomach during digestion is controlled by the circular and oblique muscles. Existing stomach simulators are unable to realistically reproduce the physical movement of the stomach. Due to the complexity of gastric motility, it is challenging to simulate and sense gastric motility. This paper proposes for the first time a bionic soft robotic stomach (BSRS) with an integrated drive and sensing structure inspired by origami and self-powered sensing technology. This soft stomach (SS) can realistically simulate and sense the movements of various parts of the human stomach in real-time. The contraction force and contraction rate of the BSRS are investigated with different viscosity contents, and the experimental values are similar to the physiological range (maximum contraction force is 3.2 N, and maximum contraction rate is 0.8). This paper provides an experimental basis for the study of gastric digestive medicine and food science by simulating the peristaltic motion of the BSRS according to the human stomach and by combining the triboelectric nanogenerator (TENG) sensing technology to monitor the motion of the BSRS in real-time. This article is protected by copyright. All rights reserved.

Earwig-inspired foldable origami wing for micro air vehicle gliding

Foldable wings serve as an effective solution for reducing the size of micro air vehicles (MAVs) during non-flight phases, without compromising the gliding capacity provided by the wing area. Among insects, earwigs exhibit the highest folding ratio in their wings. Inspired by the intricate folding mechanism in earwig hindwings, we aimed to develop artificial wings with similar high-folding ratios. By leveraging an origami hinge, which is a compliant mechanism, we successfully designed and prototyped wings capable of opening and folding in the wind, which helps reduce the surface area by a factor of seven. The experimental evaluation involved measuring the lift force generated by the wings under Reynolds numbers less than 2.2 × 104. When in the open position, our foldable wings demonstrated increased lift force proportional to higher wind speeds. Properties such as wind responsiveness, efficient folding ratios, and practical feasibility highlight the potential of these wings for diverse applications in MAVs.

Design and testing of a sew-free origami mask for improvised respiratory protection

Respiratory aerosols with diameters smaller than 100μm have been confirmed as important vectors for the spread of diseases such as SARS-CoV-2. While disposable and cloth masks afford some protection, they are typically inefficient at filtering these aerosols and require specialized fabrication devices to produce. We describe a fabrication technique that makes use of a folding procedure (origami) to transform any filtration material into a mask. These origami masks can be fabricated by non-experts at minimal cost and effort, provide adequate filtration efficiencies, and are easily scaled to different facial sizes. Using a mannequin fit test simulator, we demonstrate that these masks can provide filtration efficiencies of over 90% while simultaneously providing greater comfort as demonstrated by pressure drops of <20 Pa. We also quantify mask leakage by measuring the variations in filtration efficiency and pressure drop when masks are sealed to the mannequin face compared to when the mask is unsealed but positioned to achieve the best fit. While leakage generally trended with pressure drop, some of the best performing mask media achieved <10% reduction in filtration efficiency due to leakage. Because this mask can provide high filtration efficiencies at low pressure drop compared to commercial alternatives, it is likely to promote greater mask wearing tolerance and acceptance.

Folding Double-Stranded DNA into Designed Shapes with Triplex-Forming Oligonucleotides

The compaction and organization of genomic DNA is a central mechanism in eukaryotic cells, but engineered architectural control over double-stranded DNA (dsDNA) is notably challenging. Here, long dsDNA templates are folded into designed shapes via triplex-mediated self-assembly. Triplex-forming oligonucleotides (TFOs) bind purines in dsDNA via normal or reverse Hoogsteen interactions. In the triplex origami methodology, these non-canonical interactions are programmed to compact dsDNA (linear or plasmid) into well-defined objects, which demonstrate a variety of structural features: hollow and raster-filled, single- and multi-layered, with custom curvatures and geometries, and featuring lattice-free, square-, or honeycomb-pleated internal arrangements. Surprisingly, the length of integrated and free-standing dsDNA loops can be modulated with near-perfect efficiency; from hundreds down to only six bp (2 nm). The inherent rigidity of dsDNA promotes structural robustness and non-periodic structures of almost 25.000 nt are therefore formed with fewer unique starting materials, compared to other DNA-based self-assembly methods. Densely triplexed structures also resist degradation by DNase I. Triplex-mediated dsDNA folding is methodologically straightforward and orthogonal to Watson-Crick-based methods. Moreover, it enables unprecedented spatial control over dsDNA templates.

Three-Dimensionally Printed Self-Lock Origami: Design, Fabrication, and Simulation to Improve Performance of Rotational Joint

Origami structures have made significant contributions to the field of robotics, offering various advantages. One such advantage is their ability to conserve space by transforming the structure into a compact form. Additionally, many origami structures can be fabricated in a flat state to simplify manufacturing, giving them the potential for large-scale and cost-effective production. Rotational joints play a crucial role in the construction of robotic systems, yet origami rotational joints can suffer from a limited range of motion. We previously theoretically proposed the Self-Lock Joint to address this issue, but it is only partially flat-foldable. This paper presents a novel approach to the 3D printing of modular origami joints, such as the Self-Lock Joint, using 3D-printed plates joined with a fabric layer. The compliance of the fabric can improve the joint's semi flat-foldability or even enable it to achieve complete flat-foldability. Furthermore, the rotational motion of the joint is enhanced, allowing for close to 360 degrees of rotational movement. We assess the physical properties of the joint under both loaded and unloaded conditions in order to identify design trade-offs in the physical properties of the joints. Moreover, as a proof of concept, we construct and demonstrate manipulators utilizing these joints. The increase in rotational movement enabled by this fabrication method, coupled with the compliant joint's flat-foldability and modular nature, make it a promising candidate for use in a wide range of applications.

Multiresponsive 3D Structured PVDF Cube Switches for Security Systems Using Piezoelectric Anisotropy

Advancements in flexible electronics using piezoelectric materials have paved the way for numerous applications. In this study, we suggest a three-dimensional (3D) structured poly(vinylidene fluoride) (PVDF) film cube switch to maximize piezoelectric anisotropy and flexibility. Unlike piezoelectric material-based flexible electronics, PVDF cube switches have a simple design and easy fabrication process. Each side of the cube switch demonstrates independent voltage signals with pressing displacements and corresponding directions. With cutting angle variations and planar figure designs, derived cube switches respond with various combinations of voltage waveforms. PVDF switches can endure more than 1000 cycles of 70% vertical strain in terms of both electrical responses and mechanical operations. As an application, we establish a security system with multiresponsibility of a cube switch. This security system can protect users from potential threats owing to its multiresponsibility and user-dependent operability.

Edible Origami Actuators Using Gelatin-Based Bioplastics

The potential of ingestible medical devices can be greatly enhanced through the use of smart structures made from stimuli-responsive materials. While hydration is a convenient stimulus for inducing shape changes in biomaterials, finding robust materials that can achieve rapid actuation, facile manufacturability, and biocompatibility suitable for ingestible medical devices poses practical challenges. Hydration is a convenient stimulus to induce shape changes in smart biomaterials; however, there are many practical challenges to identifying materials that can achieve rapid actuation and facile manufacturability while satisfying constraints associated with biocompatibility requirements and mechanical properties that are suitable for ingestible medical devices. Herein, we illustrate the formulation and processability of a moisture-responsive genipin-crosslinked gelatin bioplastic system, which can be processed into complex three-dimensional shapes. Mechanical characterization of bioplastic samples showed Young's Modulus values as high as 1845 MPa and toughness values up to 52 MJ/m3, using only food-safe ingredients. Custom molds and UV-laser processing enabled the fabrication of centimeter-scale structures with over 150 independent actuating joints. These self-actuating structures soften and unfold in response to surrounding moisture, eliminating the need for additional stimuli or actuating elements.

Efficient reciprocating burrowing with anisotropic origami feet

Origami folding is an ancient art which holds promise for creating compliant and adaptable mechanisms, but has yet to be extensively studied for granular environments. At the same time, biological systems exploit anisotropic body forces for locomotion, such as the frictional anisotropy of a snake's skin. In this work, we explore how foldable origami feet can be used to passively induce anisotropic force response in granular media, through varying their resistive plane. We present a reciprocating burrower which transfers pure symmetric linear motion into directed burrowing motion using a pair of deployable origami feet on either end. We also present an application of the reduced order model granular Resistive Force Theory to inform the design of deformable structures, and compare results with those from experiments and Discrete Element Method simulations. Through a single actuator, and without the use of advanced controllers or sensors, these origami feet enable burrowing locomotion. In this paper, we achieve burrowing translation ratios-net forward motion to overall linear actuation-over 46% by changing foot design without altering overall foot size. Specifically, anisotropic folding foot parameters should be tuned for optimal performance given a linear actuator's stroke length.

Modular Soft Robot with Origami Skin for Versatile Applications

Recent advances in soft robotics demonstrate the requirement of modular actuation to enable the rapid replacement of actuators for maintenance and functionality extension. There remain challenges to designing soft actuators capable of different motions with a consistent appearance for simplifying fabrication and modular connection. Origami structures reshaping along with their unique creases became a powerful tool to provide compact constraint layers for soft pneumatic actuators. Inspired by Waterbomb and Kresling origami, this article presents three types of vacuum-driven soft actuators with a cubic shape and different origami skins, featuring contraction, bending, and twisting-contraction combined motions, respectively. In addition, these modular actuators with diversified motion patterns can be directly fabricated by molding silicone shell and constraint layers together. Actuators with different geometrical parameters are characterized to optimize the structure and maximize output properties after establishing a theoretical model to predict the deformation. Owing to the shape consistency, our actuators can be further modularized to achieve modular actuation via mortise and tenon-based structures, promoting the possibility and efficiency of module connection for versatile tasks. Eventually, several types of modular soft robots are created to achieve fragile object manipulation and locomotion in various environments to show their potential applications.

Performance enhancement of the soft robotic segment for a trunk-like arm

Trunk-like continuum robots have wide applications in manipulation and locomotion. In particular, trunk-like soft arms exhibit high dexterity and adaptability very similar to the creatures of the natural world. However, owing to the continuum and soft bodies, their performance in payload and spatial movements is limited. In this paper, we investigate the influence of key design parameters on robotic performance. It is verified that a larger workspace, lateral stiffness, payload, and bending moment could be achieved with adjustments to soft materials' hardness, the height of module segments, and arrayed radius of actuators. Especially, a 55% increase in arrayed radius would enhance the lateral stiffness by 25% and a bending moment by 55%. An 80% increase in segment height would enlarge 112% of the elongation range and 70 % of the bending range. Around 200% and 150% increments in the segment's lateral stiffness and payload forces, respectively, could be obtained by tuning the hardness of soft materials. These relations enable the design customization of trunk-like soft arms, in which this tapering structure ensures stability via the stocky base for an impact reduction of 50% compared to that of the tip and ensures dexterity of the long tip for a relatively larger bending range of over 400% compared to that of the base. The complete methodology of the design concept, analytical models, simulation, and experiments is developed to offer comprehensive guidelines for trunk-like soft robotic design and enable high performance in robotic manipulation.

Nature-inspired in-flight foldable rotorcraft

In this paper, we introduce a novel rotary wing platform, that can fold and expand its wings during flight. The design of the rotorcraft is based on the monocopter platform, which are inspired from the flight of Samara seeds. The wings are constructed by applying origami technique to fold them in flight. Two configurations are presented where the folding of the wing is based on active and passive folding mechanisms. The two configurations can reduce their overall length by approximately 39% and 65% while in flight. A cyclic controller is implemented for controlling the translational motion, where the direction is controlled by pulsing the motors at specific instance during each cycle of rotation. We have presented experimental results to prove the control of our platform in different modes while in flight. The presented platforms enhances the practical uses of monocopter platform by providing it with the ability to reduce its footprint while in flight actively, and by allowing them to dive through the air without any additional actuator.

Kirigami-Origami-Inspired Lead-Free Piezoelectric Ceramics

Kirigami- and oirigami-inspired techniques have emerged as effective strategies for material structure design; however, the use of these techniques is usually limited to soft and deformable materials. Piezoelectric ceramics, which are typical functional ceramics, are widely used in electronic and energy devices; however, the processing options for piezoelectric ceramics are limited by their brittleness and feedstock viscosity. Here, a design strategy is proposed for the preparation of lead-free piezoelectric ceramics inspired by kirigami/origami. This strategy involves direct writing printing and control over the external gravity during the calcination process for the preparation of curved and porous piezoelectric ceramics with specific shapes. The sintered BaTiO₃ ceramics with curved geometries produced using this strategy exhibit a high piezoelectric constant (d₃₃ = 275 pC N^-1 ), which is 45% higher than that of conventionally sintered sheet ceramics. The curved structure of the ceramics is well-suited for use in the human body and it was determined that these curved ceramics can detect pulse signals. This strategy can be applied in the large-scale and low-cost production of other piezoelectric ceramics with various curved shapes and provides a new approach for the preparation of complex-shaped ceramics.

Cognitive Structure of Origami Imagery

While previous studies found that origami, when used for cognitive training and education, can improve spatial ability, the underlying mechanisms of this change, presumably associated with the origami folding process, remain unclear. In the present study, we focused on origami imagery in which participants imagined the process of folding paper to create a work of art; and we examined the cognitive factors involved in the imagery process and their association with mental transformations and the extent to which visual imagery was vivid. We identified four specific relevant cognitive factors in origami imagery: (a) controllability of origami transformations, (b) visual imagery of shapes, (c) hand sensations, and (d) visual imagery of colors. We associated the first two of these with non-rigid transformations: the controllability of origami transformations and the visual imagery of shapes. Moreover, vividness of visual imagery was related to all four cognitive factors. We propose this cognitive model of origami as one that considers the key relationships between origami imagery, mental transformations, and vividness of visual imagery.

Zygote structure enables pluripotent shape-transforming deployable structure

We propose an algorithmic framework of a pluripotent structure evolving from a simple compact structure into diverse complex 3D structures for designing the shape-transformable, reconfigurable, and deployable structures and robots. Our algorithmic approach suggests a way of transforming a compact structure consisting of uniform building blocks into a large, desired 3D shape. Analogous to a fertilized egg cell that can grow into a preprogrammed shape according to coded information, compactly stacked panels named the zygote structure can evolve into arbitrary 3D structures by programming their connection path. Our stacking algorithm obtains this coded sequence by inversely stacking the voxelized surface of the desired structure into a tree. Applying the connection path obtained by the stacking algorithm, the compactly stacked panels named the zygote structure can be deployed into diverse large 3D structures. We conceptually demonstrated our pluripotent evolving structure by energy-releasing commercial spring hinges and thermally actuated shape memory alloy hinges, respectively. We also show that the proposed concept enables the fabrication of large structures in a significantly smaller workspace.

Origami and Kirigami Structure for Impact Energy Absorption: Its Application to Drone Guards

As the use of drones grows, so too does the demand for physical protection against drone damage resulting from collisions and falls. In addition, as the flight environment becomes more complicated, a shock absorption system is required, in which the protective structure can be deformed based on the circumstances. Here, we present an origami- and kirigami-based structure that provides protection from various directions. This research adds a deformation capacity to existing fixed-shape guards; by using shape memory alloys, the diameter and height of the protective structure are controlled. We present three protective modes (1: large diameter/low height; 2: small diameter/large height; and 3: lotus shaped) that mitigate drone falls and side collisions. From the result of the drop impact test, mode 2 showed a 78.2% reduction in the maximum impact force at side impact. We incorporated kirigami patterns into the origami structures in order to investigate the aerodynamic effects of the hollow patterns. Airflow experiments yielded a macro understanding of flow-through behaviors on each kirigami pattern. In the wind speed experiment, the change in airflow velocity induced by the penetration of the kirigami pattern was measured, and in the force measurement experiment, the air force applied to the structure was determined.

Magnetically Driven Modular Mechanical Metamaterials with High Programmability, Reconfigurability, and Multiple Applications

Shape transformation and motion guidance are emerging research hotspots of mechanical metamaterials. In this case, the key issue is how to improve the programmability and reconfigurability of metamaterials. The magnetically driven method enables materials to accomplish remote, fast, and reversible deformation, so it is desired for improving the programmability and reconfigurability of metamaterials. However, conventional magnetically driven materials are often pure elastomer materials. Their magnetic programming method is single, and their overall shape is unchangeable after fabrication, which limits their programmability and reconfigurability. Herein, this article proposes a kind of magnetically driven, programmable, and reconfigurable modular mechanical metamaterial based on origami and kirigami design mechanisms. The motion and deformation were designed to follow the predefined creases and incisions that could be transformed into each other. This metamaterial enabled more discrete motion and force transmission and integrated the fold of origami, the rotation of kirigami, and the fold guided by cuts. Such designs laid the foundation for complex, three-dimensional structures which could be quickly reassembled and constructed to deal with complex situations. This paper also demonstrated applications of this metamaterial in information storage and manifestation, mechanical logic computing, reconfigurable robotics, deployable mechanisms, and so on. The results indicated that the high programmability and reconfigurability expanded the application potential of the metamaterial for broader needs.

Origami-Type Flexible Thermoelectric Generator Fabricated by Self-Folding

The flexibility of thermoelectric generators (TEGs) is important for low-contact thermal resistance to curved heat sources. However, approaches that depend on soft materials, which are used in most existing studies, have the problem of low performance in terms of the substrate's thermal conductivity and the thermoelectric conversion efficiency of the thermoelectric (TE) elements. In this study, we propose a method to fabricate "Origami-TEG", a TEG with an origami structure that enables both flexibility and the usage of high-performance rigid materials by self-folding. By applying the principle of the linkage mechanism to self-folding, we realized a fabrication process in which the TE element-mounting process and the active-material-addition process were separated in time. The fabricated origami-TEG showed similar internal resistance and maximum output power when attached to heat sources with flat and curved surfaces. Furthermore, it exhibited high-performance stability against both stretching and bending deformations.

Calligraphy and Kirigami/Origami-Inspired All-Paper Touch-Temperature Sensor with Stimulus Discriminability

The use of cost-effective renewable raw materials to develop electronic devices has been strongly demanded for sustainable and biodegradable green electronics. Here, by taking inspiration from the traditional calligraphy and kirigami/origami arts, we show a novel cuttable and foldable all-paper touch-temperature sensors fabricated by simply brushing the carbon black ink onto the cellulose paper followed by a layer-layer lamination strategy. The use of environmentally friendly common commodities in daily life including carbon black ink and cellulose paper as the main component materials of sensors effectively lowers the cost and has positive impacts on the environment and health. The sensors can be freely cut or folded into the targeted shapes and can even reversibly morph between 2D and 3D configurations without affecting device function. Additionally, the sensors show a discrimination capability toward pressure and temperature. Our fabrication strategy provides a promising approach for creating the low-cost eco-friendly sensors with a versatile pattern design and a morphing shape without sacrificing the global structural integrity and device functionality.

Toward Efficient Wound Management: Bioinspired Microfluidic and Microneedle Patch

Microneedle (MN) patches hold demonstrated prospects in intelligent wound management. Herein, inspired by the highly folded structure of insect wings, a three-dimensional (3D) origami MN patch with superfine miniature needle structures, microfluidic channels, and multiple functions was reported to detect biomarkers, release drugs controllably and monitor motions to facilitate wound healing. By simply replicating the pre-stretched silicone rubber (Ecoflex) molds patterned by a laser engraving machine, the superfine structure MN patch with microfluidic channels was obtained from the restored molds. The bioinspired origami structure endows the MN patch with a high degree of functional integration, including microfluidic channels and electrocircuits. The microfluidic channels combined with the pH value and glucose concentration indicators enable the patch with the capability of biomarker sensing detection. Porous structures, a temperature-responsive hydrogel, and a photothermal-sensitive agent are utilized to form a controllable drug release system on the MN patch. Meanwhile, MXene electrocircuits were printed on the MN patch for motion sensing. In addition, the ability of the MN patch to accelerate wound healing was demonstrated by a mouse model experiment with full-thickness skin wounds. These results indicate that the multifunctional 3D origami MN patch is a valuable intelligent strategy for wound management.

Automated Folding of Origami Lattices: From Nanopatterned Sheets to Stiff Meta-Biomaterials

Folding nanopatterned flat sheets into complex 3D structures enables the fabrication of meta-biomaterials that combine a rationally designed 3D architecture with nanoscale surface features. Self-folding is an attractive approach for realizing such materials. However, self-folded lattices are generally too compliant as there is an inherent competition between ease-of-folding requirements and final load-bearing characteristics. Inspired by sheet metal forming, an alternative route is proposed for the fabrication of origamilattices. This 'automated-folding' approach allows for the introduction of sharp folds into thick metal sheets, thereby enhancing their stiffness. The first time realization of automatically folded origami lattices with bone-mimicking mechanical properties is demonstrated. The proposed approach is highly scalable given that the unit cells making up the meta-biomaterial can be arbitrarily large in number and small in dimensions. To demonstrate the scalability and versatility of the proposed approach, it is fabricated origamilattices with > 100 unit cells, lattices with unit cells as small as 1.25 mm, and auxetic lattices. The nanopatterned the surface of the sheets prior to folding. Protected by a thin coating layer, these nanoscale features remained intact during the folding process. It is found that the nanopatterned folded specimens exhibits significantly increased mineralization as compared to their non-patterned counterparts.

Self-Assembly, Self-Folding, and Origami: Comparative Design Principles

Self-assembly is usually considered a parallel process while self-folding and origami are usually considered to be serial processes. We believe that these distinctions do not hold in actual experiments. Based upon our experience with 4D printing, we have developed three additional hybrid classes: (1) templated-assisted (tethered) self-assembly: e.g., when RNA is bound to viral capsomeres, the subunits are constricted in their interactions to have aspects of self-folding as well; (2) self-folding can depend upon interactions with the environment; for example, a protein synthesized on a ribosome will fold as soon as peptides enter the intracellular environment in a serial process whereas if denatured complete proteins are put into solution, parallel folding can occur simultaneously; and, (3) in turbulent environments, chaotic conditions continuously alternate processes. We have examined the 43,380 Dürer nets of dodecahedra and 43,380 Dürer nets of icosahedra and their corresponding duals: Schlegel diagrams. In order to better understand models of self-assembly of viral capsids, we have used both geometric (radius of gyration, convex hulls, angles) and topological (vertex connections, leaves, spanning trees, cutting trees, and degree distributions) perspectives to develop design principles for 4D printing experiments. Which configurations fold most rapidly? Which configurations lead to complete polyhedra most of the time? By using Hamiltonian circuits of the vertices of Dürer nets and Eulerian paths of cutting trees of polyhedra unto Schlegel diagrams, we have been able to develop a systematic sampling procedure to explore the 86,760 configurations, models of a T1 viral capsid with 60 subunits and to test alternatives with 4D printing experiments, use of Magforms^TM, and origami models to demonstrate via movies the five processes described above.

Origami Inspired Laser Scanner

Diverse origami techniques and various selections of paper open new possibilities to create micromachines. By folding paper, this article proposes an original approach to build laser scanners, which manipulate optical beams precisely and realize valuable applications, including laser marking, cutting, engraving, and displaying. A prototype has been designed, implemented, actuated, and controlled. The experimental results demonstrate that the angular stroke, repeatability, full scale settling time, and resonant frequency are 20°, 0.849 m°, 330 ms, 68 Hz, respectively. Its durability, more than 35 million cycles, shows the potential to carry out serious tasks.

An Origami Paper-Based Biosensor for Allergen Detection by Chemiluminescence Immunoassay on Magnetic Microbeads

Food allergies are adverse health effects that arise from specific immune responses, occurring upon exposure to given foods, even if present in traces. Egg allergy is one of the most common food allergies, mainly caused by egg white proteins, with ovalbumin being the most abundant. As allergens can also be present in foodstuff due to unintended contamination, there is a need for analytical tools that are able to rapidly detect allergens in food products at the point-of-use. Herein, we report an origami paper-based device for detecting ovalbumin in food samples, based on a competitive immunoassay with chemiluminescence detection. In this biosensor, magnetic microbeads have been employed for easy and efficient immobilization of ovalbumin on paper. Immobilized ovalbumin competes with the ovalbumin present in the sample for a limited amount of enzyme-labelled anti-ovalbumin antibody. By exploiting the origami approach, a multistep analytical procedure could be performed using reagents preloaded on paper layers, thus providing a ready-to-use immunosensing platform. The assay provided a limit of detection (LOD) of about 1 ng mL^-1 for ovalbumin and, when tested on ovalbumin-spiked food matrices (chocolate chip cookies), demonstrated good assay specificity and accuracy, as compared with a commercial immunoassay kit.

Origami Microwave Imaging Array: Metasurface Tiles on a Shape-Morphing Surface for Reconfigurable Computational Imaging

Origami is the art of paper folding that allows a single flat piece of paper to assume different 3D shapes depending on the fold patterns and the sequence of folding. Using the principles of origami along with computation imaging technique the authors demonstrate a versatile shape-morphing microwave imaging array with reconfigurable field-of-view and scene-adaptive imaging capability. Microwave/millimeter-wave based array imaging systems are expected to be the workhorse for sensory perception of future autonomous intelligent systems. The imaging capability of a planar array-based systems operating in complex scattering conditions have limited field-of-view and lack the ability to adaptively reconfigure resolution. To overcome this, here, deviations from planarity and isometry are allowed, and a shape-morphing computational imaging system is demonstrated. Implemented on a reconfigurable Waterbomb origami surface with 22 active metasurface panels that radiate near-orthogonal modes across 17-27 GHz, capability to image complex 3D objects in full details minimizing the effects of specular reflections in diffraction-limited sparse imaging with scene adaptability, reconfigurable cross-range resolution, and field-of-view is demonstrated. Such electromagnetic origami surfaces, through simultaneous surface shape-morphing ability (potentially with shape-shifting electronic materials) and electromagnetic field programmability, opens up new avenues for intelligent and robust sensing and imaging systems for a wide range of applications.

Multistable bioinspired origami with reprogrammable self-folding

Origami has emerged as a design paradigm to realize morphing structures with rich kinematic and mechanical properties. Biological examples augment the potential design space by suggesting intriguing routes for achieving self-folding from architected materials. We introduce a class of multistable self-folding origami adaptable after fabrication inspired by the earwig wing. This is achieved by designing bilayer creases that display anisotropic shrinkage in response to external stimulation, enabling a mechanism for prestrain adaptation. We establish a bilayer model for stretchable straight and trapezoidal (β) creases to generate bistable origami structures. We adapt the topology of the structure’s energy landscapes by tuning the fold prestrain level as a function of the stimulation time. The proposed method and model allows for converting flat sheets with arranged facets and prestrained mountain-valley creases into self-folding multistable structures. Introducing multistability from self-folding avoids ambiguous folding branches present in the rich configuration space at the flat state. The obtained crease prestrain programming is leveraged to manufacture a biomimetic earwig wing featuring the complex crease pattern, structural stability and rapid closure of the biological counterpart. The presented method provides a route for encoding prestrain in self-folding origami, the multistability of which is adaptable after fabrication.

Metamaterial Absorbers: From Tunable Surface to Structural Transformation

Since the first demonstration, remarkable progress has been made in the theoretical analysis, structural design, numerical simulation, and potential applications of metamaterial absorbers (MAs). With the continuous advancement of novel materials and creative designs, the absorption of MAs is significantly improved over a wide frequency spectrum from microwaves to the optical regime. Further, the integration of active elements into the MA design allows the dynamical manipulation of electromagnetic waves, opening a new platform to push breakthroughs in metadevices. In the last several years, numerous efforts have been devoted to exploring innovative approaches for incorporating tunability to MAs, which is highly desirable because of the progressively increasing demand on designing versatile metadevices. Here, a comprehensive and systematical overview of active MAs with adaptive and on-demand manner is presented, highlighting innovative materials and unique strategies to precisely control the electromagnetic response. In addition to the mainstream method by manipulating periodic patterns, two additional approaches, including tailoring dielectric spacer and transforming overall structure are called back. Following this, key parameters, such as operating frequency, relative tuning range, and switching speed are summarized and compared to guide for optimum design. Finally, potential opportunities in the development of active MAs are discussed.

Discrete symmetries control geometric mechanics in parallelogram-based origami

Geometric compatibility constraints dictate the mechanical response of soft systems that can be utilized for the design of mechanical metamaterials such as the negative Poisson's ratio Miura-ori origami crease pattern. Here, we develop a formalism for linear compatibility that enables explicit investigation of the interplay between geometric symmetries and functionality in origami crease patterns. We apply this formalism to a particular class of periodic crease patterns with unit cells composed of four arbitrary parallelogram faces and establish that their mechanical response is characterized by an anticommuting symmetry. In particular, we show that the modes are eigenstates of this symmetry operator and that these modes are simultaneously diagonalizable with the symmetric strain operator and the antisymmetric curvature operator. This feature reveals that the anticommuting symmetry defines an equivalence class of crease pattern geometries that possess equal and opposite in-plane and out-of-plane Poisson's ratios. Finally, we show that such Poisson's ratios generically change sign as the crease pattern rigidly folds between degenerate ground states and we determine subfamilies that possess strictly negative in-plane or out-of-plane Poisson's ratios throughout all configurations.

Large Curvature Self-Folding Method of a Thick Metal Layer for Hinged Origami/Kirigami Stretchable Electronic Devices

A self-folding method that can fold a thick (~10 μm) metal layer with a large curvature (>1 mm−1) and is resistant to repetitive folding deformation is proposed. Given the successful usage of hinged origami/kirigami structures forms in deployable structures, they show strong potential for application in stretchable electronic devices. There are, however, two key difficulties in applying origami/kirigami methods to stretchable electronic devices. The first is that a thick metal layer used as the conductive layer of electronic devices is too hard for self-folding as it is. Secondly, a thick metal layer breaks on repetitive folding deformation at a large curvature. To overcome these difficulties, this paper proposes a self-folding method using hinges on a thick metal layer by applying a meander structure. Such a structure can be folded at a large curvature even by weak driving forces (such as those produced by self-folding) and has mechanical resistance to repetitive folding deformation due to the local torsional deformation of the meander structure. To verify the method, the large curvature self-folding of thick metal layers and their mechanical resistance to repetitive folding deformation is experimentally demonstrated. In addition, an origami/kirigami hybrid stretchable electronic device with light-emitting diodes (LEDs) is fabricated using a double-tiling structure called the perforated extruded Miura-ori.

Leaf-Like Origami with Bistability for Self-Adaptive Grasping Motions

The leaf-like origami structure is inspired by geometric patterns found in nature, exhibiting unique transitions between open and closed shapes. With a bistable energy landscape, leaf-like origami is able to replicate the autonomous grasping of objects observed in biological systems such as the Venus flytrap. We show uniform grasping motions of the leaf-like origami, as well as various nonuniform grasping motions that arise from its multitransformable nature. Grasping motions can be triggered with high tunability due to the structure's bistable energy landscape. We demonstrate the self-adaptive grasping motion by dropping a target object onto our paper prototype, which does not require an external power source to retain the capture of the object. We also explore the nonuniform grasping motions of the leaf-like structure by selectively controlling the creases, which reveals various unique grasping configurations that can be exploited for versatile, autonomous, and self-adaptive robotic operations.

Rigid folding equations of degree-6 origami vertices

Rigid origami, with applications ranging from nano-robots to unfolding solar sails in space, describes when a material is folded along straight crease line segments while keeping the regions between the creases planar. Prior work has found explicit equations for the folding angles of a flat-foldable degree-4 origami vertex and some cases of degree-6 vertices. We extend this work to generalized symmetries of the degree-6 vertex where all sector angles equal 60∘. We enumerate the different viable rigid folding modes of these degree-6 crease patterns and then use second-order Taylor expansions and prior rigid folding techniques to find algebraic folding angle relationships between the creases. This allows us to explicitly compute the configuration space of these degree-6 vertices, and in the process we uncover new explanations for the effectiveness of Weierstrass substitutions in modelling rigid origami. These results expand the toolbox of rigid origami mechanisms that engineers and materials scientists may use in origami-inspired designs.

Introversion and High Spatial Ability Is Associated With Origami Proficiency

This study examined the relationship between origami performance, personality traits, and spatial ability. The researchers asked 43 Japanese university students (19 women and 24 men) to fold three models of origami (paper folding). Their performance was assessed by the number of successes in correctly folding the paper to make the models. They also answered the personality inventory NEO-FFI and completed the block-design test of the Wechsler Adult Intelligence Scale IV, which measures the spatial ability of people. The results showed that although origami performance demonstrated no significant relation with neuroticism, openness to experience, agreeableness, or conscientiousness, it improved as introversion tendency and spatial ability increased. There were no differences based on sex in origami performance. The findings suggest that performing origami requires spatial ability, which supports the view that origami is a potential educational material for training and enhancing spatial ability, and that introversion is advantageous to origami performance.

Mechanically Guided Hierarchical Assembly of 3D Mesostructures

3D, hierarchical micro/nanostructures formed with advanced functional materials are of growing interest due to their broad potential utility in electronics, robotics, battery technology, and biomedical engineering. Among various strategies in 3D micro/nanofabrication, a set of methods based on compressive buckling offers wide-ranging material compatibility, fabrication scalability, and precise process control. Previously reports on this type of approach rely on a single, planar prestretched elastomeric platform to transform thin-film precursors with 2D layouts into 3D architectures. The simple planar configuration of bonding sites between these precursors and their assembly substrates prevents the realization of certain types of complex 3D geometries. In this paper, a set of hierarchical assembly concepts is reported that leverage multiple layers of prestretched elastomeric substrates to induce not only compressive buckling of 2D precursors bonded to them but also of themselves, thereby creating 3D mesostructures mounted at multiple levels of 3D frameworks with complex, elaborate configurations. Control over strains used in these processes provides reversible access to multiple different 3D layouts in a given structure. Examples to demonstrate these ideas through both experimental and computational results span vertically aligned helices to closed 3D cages, selected for their relevance to 3D conformal bio-interfaces and multifunctional microsystems.

Smartphone-Based Chemiluminescent Origami µPAD for the Rapid Assessment of Glucose Blood Levels

Microfluidic paper analytical devices (µPADs) represent one of the most appealing trends in the development of simple and inexpensive analytical systems for diagnostic applications at the point of care (POC). Herein, we describe a smartphone-based origami µPAD for the quantitative determination of glucose in blood samples based on the glucose oxidase-catalyzed oxidation of glucose leading to hydrogen peroxide, which is then detected by means of the luminol/hexacyanoferrate(III) chemiluminescent (CL) system. By exploiting the foldable µPAD format, a two-step analytical procedure has been implemented. First, the diluted blood sample was added, and hydrogen peroxide was accumulated, then the biosensor was folded, and a transport buffer was added to bring hydrogen peroxide in contact with CL reagents, thus promoting the CL reaction. To enable POC applicability, the reagents required for the assay were preloaded in the µPAD so that no chemicals handling was required, and a 3D-printed portable device was developed for measuring the CL emission using the smartphone’s CMOS camera. The µPAD was stable for 30-day storage at room temperature and the assay, displaying a limit of detection of 10 µmol L⁻¹, proved able to identify both hypoglycemic and hyperglycemic blood samples in less than 20 min.

Origami and materials science

Origami, the ancient art of folding thin sheets, has attracted increasing attention for its practical value in diverse fields: architectural design, therapeutics, deployable space structures, medical stent design, antenna design and robotics. In this survey article, we highlight its suggestive value for the design of materials. At continuum level, the rules for constructing origami have direct analogues in the analysis of the microstructure of materials. At atomistic level, the structure of crystals, nanostructures, viruses and quasi-crystals all link to simplified methods of constructing origami. Underlying these linkages are basic physical scaling laws, the role of isometries, and the simplifying role of group theory. Non-discrete isometry groups suggest an unexpected framework for the design of novel materials. This article is part of the theme issue 'Topics in mathematical design of complex materials'.

Reconfigurable Magnetic Origami Actuators with On-Board Sensing for Guided Assembly

Origami utilizes orchestrated transformation of soft 2D structures into complex 3D architectures, mimicking shapes and functions found in nature. In contrast to origami in nature, synthetic origami lacks the ability to monitor the environment and correspondingly adjust its behavior. Here, magnetic origami actuators with capabilities to sense their orientation and displacement as well as detect their own magnetization state and readiness for supervised folding are designed, fabricated, and demonstrated. These origami actuators integrate photothermal heating and magnetic actuation by using composite thin films (≈60 µm thick) of shape-memory polymers with embedded magnetic NdFeB microparticles. Mechanically compliant magnetic field sensors, known as magnetosensitive electronic skins, are laminated on the surface of the soft actuators. These ultrathin actuators accomplish sequential folding and recovery, with hinge locations programmed on the fly. Endowing mechanically active smart materials with cognition is an important step toward realizing intelligent, stimuli-responsive structures.

An additive algorithm for origami design

Inspired by the allure of additive fabrication, we pose the problem of origami design from a different perspective: How can we grow a folded surface in three dimensions from a seed so that it is guaranteed to be isometric to the plane? We solve this problem in two steps: by first identifying the geometric conditions for the compatible completion of two separate folds into a single developable fourfold vertex, and then showing how this foundation allows us to grow a geometrically compatible front at the boundary of a given folded seed. This yields a complete marching, or additive, algorithm for the inverse design of the complete space of developable quad origami patterns that can be folded from flat sheets. We illustrate the flexibility of our approach by growing ordered, disordered, straight, and curved-folded origami and fitting surfaces of given curvature with folded approximants. Overall, our simple shift in perspective from a global search to a local rule has the potential to transform origami-based metastructure design.

A Compact Soft Robotic Wrist Brace With Origami Actuators

Wrist disability caused by a series of diseases or injuries hinders the patient’s capability to perform activities of daily living (ADL). Rehabilitation devices for the wrist motor function have gained popularity among clinics and researchers due to the convenience of self-rehabilitation. The inherent compliance of soft robots enabled safe human-robot interaction and light-weight characteristics, providing new possibilities to develop wearable devices. Compared with the conventional apparatus, soft robotic wearable rehabilitation devices showed advantages in flexibility, cost, and comfort. In this work, a compact and low-profile soft robotic wrist brace was proposed by directly integrating eight soft origami-patterned actuators on the commercially available wrist brace. The linear motion of the actuators was defined by their origami pattern. The extensions of the actuators were constrained by the brace fabrics, deriving the motions of the wrist joint, i.e., extension/flexion, ulnar/radial deviation. The soft actuators were made of ethylene-vinyl acetate by blow molding, achieving mass-production capability, low cost, and high repeatability. The design and fabrication of the soft robotic wrist brace are presented in this work. The experiments on the range of motion, output force, wearing position adaptivity, and performance under disturbance have been carried out with results analyzed. The modular soft actuator approach of design and fabrication of the soft robotic wrist brace has a wide application potential in wearable devices.

Shape-Programmable Interfacial Solar Evaporator with Salt-Precipitation Monitoring Function

Interfacial solar evaporators (ISEs) for seawater desalination have garnered enormous attention in recent decades due to global water scarcity. Despite the progress in the energy conversion efficiency and production rate of ISE, the poor portability of large-area ISE during transportation as well as the clogging of water transport pathways by precipitated salts during operation remain grand challenges for its fielded applications. Here, we designed an ISE with high energy conversion efficiency and shape morphing capability by integrating carbon nanotube (CNT) fillers with a light-responsive shape memory polymer (SMP, cross-linked polycyclooctene (cPCO)). Utilizing the shape memory effect, our ISE can be folded to an origami with 1/9 of its original size to save space for transportation and allow for on-demand unfolding upon sunlight irradiation when deployed in service. In addition, the ISE is equipped with a real-time clogging monitoring function by measuring the capacitance of the electric double layer (EDL) formed at the evaporator/seawater nanointerface. Due to its good energy conversion efficiency, high portability, and clogging monitoring capability, we envisage our ISE as a promising selection in solar evaporation technologies.

Soft Origami Optical-Sensing Actuator for Underwater Manipulation

Soft robots are ideal for underwater manipulation in sampling and other servicing applications. Their unique features of compliance, adaptability, and being naturally waterproof enable robotic designs to be compact and lightweight, while achieving uncompromized dexterity and flexibility. However, the inherent flexibility and high nonlinearity of soft materials also results in combined complex motions, which creates both soft actuator and sensor challenges for force output, modeling, and sensory feedback, especially under highly dynamic underwater environments. To tackle these limitations, a novel Soft Origami Optical-Sensing Actuator (SOSA) with actuation and sensing integration is proposed in this paper. Inspired by origami art, the proposed sensorized actuator enables a large force output, contraction/elongation/passive bending actuation by fluid, and hybrid motion sensing with optical waveguides. The SOSA design brings two major novelties over current designs. First, it involves a new actuation-sensing mode which enables a superior large payload output and a robust and accurate sensing performance by introducing the origami design, significantly facilitating the integration of sensing and actuating technology for wider applications. Secondly, it simplifies the fabrication process for harsh environment application by investigating the boundary features between optical waveguides and ambient water, meaning the external cladding layer of traditional sensors is unnecessary. With these merits, the proposed actuator could be applied to harsh environments for complex interaction/operation tasks. To showcase the performance of the proposed SOSA actuator, a hybrid underwater 3-DOFs manipulator has been developed. The entire workflow on concept design, fabrication, modeling, experimental validation, and application are presented in detail as reference for wider effective robot-environment applications.