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Abstract Wireless millimeter-scale origami robots have recently been explored with great potential for biomedical applications. Existing millimeter-scale origami devices usually require separate geometrical components for locomotion and functions. Additionally, none of them can achieve both on-ground and in-water locomotion. Here we report a magnetically actuated amphibious origami millirobot that integrates capabilities of spinning-enabled multimodal locomotion, delivery of liquid medicine, and cargo transportation with wireless operation. This millirobot takes full advantage of the geometrical features and folding/unfolding capability of Kresling origami, a triangulated hollow cylinder, to fulfill multifunction: its geometrical features are exploited for generating omnidirectional locomotion in various working environments through rolling, flipping, and spinning-induced propulsion; the folding/unfolding is utilized as a pumping mechanism for controlled delivery of liquid medicine; furthermore, the spinning motion provides a sucking mechanism for targeted solid cargo transportation. We anticipate the amphibious origami millirobots can potentially serve as minimally invasive devices for biomedical diagnoses and treatments. 

Inspired by the embodied intelligence observed in octopus arms, we introduce magnetically controlled origami robotic arms based on Kresling patterns for multimodal deformations, including stretching, folding, omnidirectional bending, and twisting. The highly integrated motion of the robotic arms is attributed to inherent features of the reconfigurable Kresling unit, whose controllable bistable deploying/folding and omnidirectional bending are achieved through precise magnetic actuation. We investigate single- and multiple-unit robotic systems, the latter exhibiting higher biomimetic resemblance to octopus’ arms. We start from the single Kresling unit to delineate the working mechanism of the magnetic actuation for deploying/folding and bending. The two-unit Kresling assembly demonstrates the basic integrated motion that combines omnidirectional bending with deploying. The four-unit Kresling assembly constitutes a robotic arm with a larger omnidirectional bending angle and stretchability. With the foundation of the basic integrated motion, scalability of Kresling assemblies is demonstrated through distributed magnetic actuation of double-digit number of units, which enables robotic arms with sophisticated motions, such as continuous stretching and contracting, reconfigurable bending, and multiaxis twisting. Such complex motions allow for functions mimicking octopus arms that grasp and manipulate objects. The Kresling robotic arm with noncontact actuation provides a distinctive mechanism for applications that require synergistic robotic motions for navigation, sensing, and interaction with objects in environments with limited or constrained access. Based on small-scale Kresling robotic arms, miniaturized medical devices, such as tubes and catheters, can be developed in conjunction with endoscopy, intubation, and catheterization procedures using functionalities of object manipulation and motion under remote control. 

A bioinspired, untethered, and small-scale origami crawler achieves effective locomotion and steering in severely confined spaces. 

Abstract Hard-magnetic soft active materials have drawn significant research interest in recent years due to their advantages of untethered, rapid and reversible actuation, and large shape change. These materials are typically fabricated by embedding hard-magnetic particles in a soft matrix. Since the actuation is achieved by transferring the microtorques generated on the magnetic particles by the applied magnetic field to the soft matrix, the actuation depends on the interactions between the magnetic particles and the soft matrix. In this paper, we investigate how such interactions can affect the actuation efficiency by using a micromechanics approach through the representative volume element simulations. The micromechanics reveals that particle rotations play an essential role in determining the actuation efficiency, i.e., the torque transmission efficiency. In particular, a larger local particle rotation in the matrix would reduce the effective actuation efficiency. Micromechanics simulations further show that the efficiency of the torque transmission from the particles to the matrix depends on the particle volume fraction, the matrix modulus, the applied magnetic field strength, as well as the particle shape. Based on the micromechanics simulations, a simple theoretical model is developed to correlate the torque transmission efficiency with the particle volume fraction, the matrix modulus, as well as the applied magnetic field strength. We anticipate this study on the actuation efficiency of hard-magnetic soft active materials would provide optimization and design guidance to the parameter determination for the material fabrication for different applications. 

Deployability, multifunctionality, and tunability are features that can be explored in the design space of origami engineering solutions. These features arise from the shape-changing capabilities of origami assemblies, which require effective actuation for full functionality. Current actuation strategies rely on either slow or tethered or bulky actuators (or a combination). To broaden applications of origami designs, we introduce an origami system with magnetic control. We couple the geometrical and mechanical properties of the bistable Kresling pattern with a magnetically responsive material to achieve untethered and local/distributed actuation with controllable speed, which can be as fast as a tenth of a second with instantaneous shape locking. We show how this strategy facilitates multimodal actuation of the multicell assemblies, in which any unit cell can be independently folded and deployed, allowing for on-the-fly programmability. In addition, we demonstrate how the Kresling assembly can serve as a basis for tunable physical properties and for digital computing. The magnetic origami systems are applicable to origami-inspired robots, morphing structures and devices, metamaterials, and multifunctional devices with multiphysics responses. 

Abstract Shape‐morphing magnetic soft materials, composed of magnetic particles in a soft polymer matrix, can transform shape reversibly, remotely, and rapidly, finding diverse applications in actuators, soft robotics, and biomedical devices. To achieve on‐demand and sophisticated shape morphing, the manufacture of structures with complex geometry and magnetization distribution is highly desired. Here, a magnetic dynamic polymer (MDP) composite composed of hard‐magnetic microparticles in a dynamic polymer network with thermally responsive reversible linkages, which permits functionalities including targeted welding for magnetic‐assisted assembly, magnetization reprogramming, and permanent structural reconfiguration, is reported. These functions not only provide highly desirable structural and material programmability and reprogrammability but also enable the manufacturing of functional soft architected materials such as 3D kirigami with complex magnetization distribution. The welding of magnetic‐assisted modular assembly can be further combined with magnetization reprogramming and permanent reshaping capabilities for programmable and reconfigurable architectures and morphing structures. The reported MDP are anticipated to provide a new paradigm for the design and manufacture of future multifunctional assemblies and reconfigurable morphing architectures and devices.