ArticleAdvanced science (Weinheim, Baden-Wurttemberg, Germany)2026
MagGami: An Electromagnetic Origami Actuator With High Stiffness-Switching Density for Lightweight Joint-Space Wearable Haptics.
Article in Advanced science (Weinheim, Baden-Wurttemberg, Germany), 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
Kinesthetic feedback gloves play a central role in immersive virtual and augmented reality (VR/AR) by enabling the perception of object shape, stiffness, and spatial constraints. However, key challenges remain: 1) achieving a large stiffness contrast between free-space and constrained-space states, 2) enabling independent actuation on finger joints, and 3) maintaining lightweight, low-power wearable operation. Here, we introduce MagGami, a miniaturized origami-based variable-stiffness actuator weighing 1.2 g for distributed joint-space integration. By combining origami geometric interlocking with an electromagnetic bistable mechanism, it can be triggered by transient current pulses at the flattened 0° configuration of the origami mechanism. MagGami switches from a freely compliant state to a self-locked high-resistance state with a mean locking response time of 102.8 ms, while requiring no coil power to hold the locked state. The mean device-level locked-to-free effective rotational-stiffness ratio is 795.46, corresponding to a module-level stiffness-switching density of 6.63 × 10
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