ArticleProceedings of the National Academy of Sciences of the United States of America2021
Stretchable origami robotic arm with omnidirectional bending and twisting.
Article in Proceedings of the National Academy of Sciences of the United States of America, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 63 papers.
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Who cites it
63 citing papers in PubMed, 373 citations in OpenAlex.
- Additive manufacturing-facilitated blow molding for functional thin-walled polymeric structures.Science advances · 2026Article
- Adaptable weaving origami.Science advances · 2026Article
- 3D Printed Meter-Scale Soft Origami Robots Capable of Load-Bearing Actuation Via Crease Stiffness Modulation.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Evolutionary diversification via modular compliance for self-reconfigurable continuum robots.Science advances · 2026Article
- Single twistable tendon-driven continuum robots.Nature communications · 2026Article
- Hierarchical laser-programmed soft actuators for designing bionic robots with freeform morphing shapes.Science advances · 2026Article
- Bioinspired Morphology-Decoupled Soft Gripper with Enhanced Bidirectional Grasping Capability.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Bistable origami thermal switch with high switching ratios.Nature communications · 2026Article
- Smooth doubly curved origami shells with reprogrammable rigidity.Nature communications · 2026Article
- Remorphable Architectures: Reprogramming Global Bistability through Locally Bistable Metamaterials.Advanced materials (Deerfield Beach, Fla.) · 2026Article
- Crystallography-inspired hierarchical multiscale mechanical metamaterials.NPJ metamaterials · 2026Article
- Multifunctional and Reprogrammable Magnetoactive Graphene Oxide Origami.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- LEGO-like Origami Robots Standardize Structure Design of Soft Robots.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Magnetoactive bistable soft actuators for programmable large shape transformations at low magnetic fields.Nature communications · 2025Article
- SPARC: A Soft, Proprioceptive, Agile Robot for 3D Climbing and Exploration with Precise Trajectory Following.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2025Article
- Multistable thin-shell metastructures for multiresponsive reconfigurable metabots.Science advances · 2025Article
- Stiffness reprogrammable magnetorheological metamaterials inspired by spine for multibit visual mechanical information processing.Science advances · 2025Article
- Morph and Function: Exploring Origami-Inspired Structures in Versatile Robotics Systems.Micromachines · 2025Review
- Multi-Physically Programmable Tubular Origami Metamaterials: Exploitable Nexus of Geometry, Folding Mechanics and Stimuli-Responsive Physics.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2025Review
- Origami exoskeletons for enhanced soft robotic manipulation.Science advances · 2025Article
3 more citing papers are in PubMed but not listed here.
Corrections and comments
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Authors and funding
6 authors at 2 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
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.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.