Abstract Conventional fixed wheels are simple but inflexible. Mechanical deformable wheels have low load capacity and complex structures, while pneumatic/hydraulic ones are heavy and slow. All existing designs struggle to balance high load capacity with effective buffering. Deep space exploration and urban rescue now demand wheels that excel in both capabilities. This paper proposes a controllable deformable "tensegrityorigami wheel" with buffering capacity and load capacity. The wheel adopts a tensegrity-SMA embedded buffering architecture and utilizes telescopic push rods to achieve radial drive, significantly improving load capacity compared to axial drive mechanisms. The tensegrity structure provides excellent tension and compression resistance. Additionally, the wheel effectively utilizes the superelasticity of SMA to absorb energy, providing certain buffering capacity. Furthermore, based on the water bomb tessellation pattern, this paper designs and optimizes an origami structure whose kinematic analysis results verify deterministic motion characteristics during diameter variation. This novel wheel potentially prevents sinking in soft terrain for planetary exploration and suits demanding applications like earthquake rescue, polar expeditions, and rugged terrain exploration.

Bidirectional payload enhancement of soft actuator via nested dual-chamber origami structure

Recent advances in graphene origami structures: A review

Ultrasound imaging is an essential part of the modern clinical routine. However, its dependence on costly multichannel electronics limits its use in chronic monitoring of disease. Single-detector compressed-sensing approaches have been proposed to simplify the signal acquisition pipeline, but they suffer from reduced acoustic sensitivity due to reliance on multiple scattering topologies. We propose foldable origami structures with built-in ultrasound sensing capabilities for single-pixel imaging that increase the acoustic sensitivity by leveraging a foldable transducer geometry. By detecting ultrasound fields at various origami folding states, target images in two- and three-dimensions are recovered using model-based reconstruction techniques. We simulated the Foldable Origami-based Compressive Ultrasound Sensing (FOCUS) concept and inverse designed the origami geometry for maximum imaging performance. We quantified the performance of the FOCUS concept with the reconstruction accuracy of synthetic target images including point-scatterers and vessel-like structures, reaching an average structure similarity index measure of 0.63 and [Formula: see text] error of 11.89. We showed that the optimized FOCUS pattern remains effective even when exposed to geometric distortions and electrical noise. Our approach can tailor the FOCUS design to various targets, scales, and applications, potentially transforming ultrasound imaging devices through miniaturized single-channel electronics.

Abstract Flexible actuators have tremendous application potential in the fields of soft robotics, artificial muscles, electronic skins, and biomimetic actuation. However, MXene-based light-responsive flexible actuators face challenges such as nanosheet stacking, limited deformation modes, and difficulties in continuous motion control. To address these issues, an electrohydrodynamic (EHD) printing strategy was proposed for the fabrication of programmable MXene-cellulose nanofiber/polydimethylsiloxane (MXene-CNF/PDMS) actuators. The stacking of MXene nanosheets was effectively prevented by the “brick-and-mortar” structure formed through hydrogen bonding. The MXene-CNF/PDMS actuator with the optimized mass ratio of 90 wt% MXene and 10 wt% CNF achieved a curvature of 2.34 cm⁻¹ under near-infrared light at 550 mW/cm², improving performance by 31.5 % compared to the MXene/PDMS actuator. The EHD printing method can achieve precise patterning design of the MXene-CNF layer by inducing multidimensional deformation through local thermal expansion stress mismatch. Actuators with MXene-CNF patterns fabricated via EHD printing along the 0°, 45°, and 90° directions exhibited multiple actuation modes, including vertical bending, spiral curling, and curling around the central axis. The application of EHD programmable printed flexible actuators in self-folding origami structures, light-driven wheeled robots, and biomimetic Archimedean spiral structures demonstrates the practical application of this method. This work establishes a collaborative innovation paradigm of materials, structure, and process, addressing the challenges of limited deformation modes and continuous motion control in flexible actuators, providing new solutions for complex movements in soft robotics.

Actuated origami systems offer adaptable properties including morphing shape, selective multistability, and tunable stiffness. Typically, these systems activate all creases uniformly or control each structural degree of freedom independently, limiting shape mode variety and the ability to independently tune some properties while keeping others constant. This article explores structurally coupled localized actuation using redundant actuators at each crease, leveraging origami's inherent structural coupling to achieve adaptable properties in versatile shape modes with independent tunability. A tile‐based pneumatic system implements origami structures with rigid tile facets and flexible fabric creases. Independently activated inflation bladders along each crease provide pressure‐scalable local torques and stiffness. Using a Miura pattern, morphing shape is achieved in three distinct shape modes with selective monostability or multistability based on activated creases and applied pressures. The local actuator is analytically modeled and integrated into a physics network structural model to simulate the adaptable properties numerically, validated experimentally. Supported by these models, independently tuning tiffness at constant shape, and selective multistability while maintaining both shape and stiffness are achieved through structurally coupled actuation of multiple creases. This structurally coupled localized actuation approach opens new opportunities for adaptable properties with expansive shape modes and independent tunability within an integrated origami system.

Abstract Phased arrays steer electromagnetic radiation in a desired direction by electronically adjusting the phases of individual antennas. Each transmitting antenna functions as a macroscopic oscillator and produces electromagnetic radiation similar to that of a Hertzian oscillator. The fields generated by individual antennas in an array interfere constructively in the intended direction, resulting in significant power gain, while interfering destructively in most other directions, minimizing power output. In this paper, we use a model similar to the Hertzian model to represent a finite set of transmitting antennas. The antennas are positioned along the orbits of various discrete groups with one or two generators. Notably, a conventional phased array is a special case using a translation group. We observe that antenna positions constructed by this method are precisely consistent with the deformations of certain deployable origami structures constructed by the group orbit method. In this context, we consider the problem of manipulating the phases of the antennas to achieve constructive interference at an assigned far-field point. This gives intriguing interference patterns in parameter space. These patterns are adapted to various applications, such as monitoring the kinematics of deployable structures and encrypting messages in communication.

Magnetic origami robots have attracted tremendous attention in flexible grasping, wearable devices and biomedical care, due to the extreme deformation characteristics stemming from the origami technique, which endows the robots diverse locomotion capabilities such as rolling, crawling and jumping. However, specific challenging motion patterns such as jumping and walking up or down stairs are still difficult to be achieved by existing soft robots. In the present study, an Albuca namaquensis Baker inspired origami robot (AnB robot) is developed by introducing the classical helical construction in the origami technique under the actuation of the magnet. Firstly, the folding process of the Albuca namaquensis Baker structure is elaborated as well as the adhesion strategy of the NdFeB discs. Next, the tensile and bending experiments are carried out to demonstrate the flexibility of the proposed origami structure. In what follows, the typical motion such as walking down the stairs is performed and the mechanical model is given to depict the motion process. Finally, more challenging motion patterns including rolling and climbing the stairs are exhibited. It shows that the proposed AnB robot can achieve movements such as descending stairs by gravity, overcoming gravity to climb stairs, and rolling on flat ground which also holds implications in many engineering areas to realize complicated tasks. The results also shed light on the development of designing intelligent devices and novel bionic robots.

Curved-crease origami foldcore sandwich structure with combined sound absorption and load-bearing capabilities

Smart design and optimization of origami composite structures: from energy absorption to performance prediction

Rate-dependent thermoplastic polyurethane for multi-tessellated origami structures with enhanced impact resistance

Aerodynamic and electromagnetic analysis of a Rubik's cube-inspired origami structure

Interleaved assembly and compressive behavior of non-Euclidean origami structures

Compressive reusability of self-stable programmable assembled origami structures

Eigen-value analysis of Kresling modules: A systematic approach to designing arm-like origami structures

ABSTRACT Origami‐inspired robots hold significant potential in flexible systems, yet their operational speeds remain constrained by the inherent trade‐off between structural compliance and actuation efficiency. This study presents a novel approach by exploiting the transient energy release characteristics of bistable Kresling origami to achieve rapid locomotion. Through parametric modelling of the critical bistable transition, we establish quantitative relationships between geometric parameters and dynamic performance metrics, revealing that optimised configurations enable ultra‐fast rebound within 60 ms. The robot integrates a cable‐driven crank mechanism that synchronises motor rotation with periodic linear actuation, achieving precise control over energy storage–release cycles. A bioinspired differential friction foot design with programmable anchoring sequences facilitates earthworm‐like peristaltic motion. Experimental results demonstrate exceptional crawling speeds up to 375 mm/s (3–4 body lengths/s) across multiple substrates (ceramic, wood, PVC). This work provides a paradigm‐shifting framework for reconciling speed and flexibility in soft robotics, with direct implications for applications requiring rapid reconfiguration in confined environments.

Peculiar multi-stability observed in Yoshimura origami structures: Evolution and regulation of snapping sequence

Synthetic DNA strands are programmable and biocompatible building blocks that can be combined through hybridization to form user-defined nanostructures, but their assembly traditionally requires cell-incompatible conditions, imposing a lengthy ex situ fabrication step before any application with living matter. Here we demonstrate for the first time that 2D and 3D DNA origami structures can isothermally self-assemble at 37°C within minutes, directly in cell culture media, both in the absence and in the presence of living cells. Scaffold-free structures of extended dimensions, such as micrometer-long DNA nanotubes, can also self-assemble when the system is given more time to evolve. With human cell lines, 2D and 3D origami structures in situ self-assemble in 5 to 15min, and remain stable for about 24h and up to 3 days when actin monomers are added. Similar self-assembly performance is observed in the presence of more complex tissue-like systems, such as human induced pluripotent stem cells evolving into cerebral organoids. This ultra-fast, life-compatible self-assembly method drastically simplifies the fabrication of complex DNA nanostructures and enables the creation of in situ self-assembling nanomachines for direct and adaptive interactions with living cells.

With the rapid advancement of detection technologies, traditional static electromagnetic absorbers increasingly struggle to meet controllable stealth requirements across diverse dynamic environments. To achieve active and controllable modulation of electromagnetic reflection characteristics, this paper proposes a transparent reconfigurable metamaterial absorber based on an origami structure. By adjusting the folding angles of the indium tin oxide (ITO)-polyethylene terephthalate (PET) film, the structure achieves reversible deformation from the vertical state to the horizontal state. This enables continuous modulation of the reflectance from below −10 dB (absorbing state) to nearly 0 dB (reflecting state) within the 4–18.9 GHz frequency range, with a relative bandwidth exceeding 130% and excellent angular stability. The energy loss and current distribution under different states are analyzed, revealing the mechanisms behind broadband absorption and deep modulation. Experimental measurements of the fabricated metamaterial align well with simulation results. Leveraging its flexible structure, reversible modulation capability, and angular stability, this origami-inspired reconfigurable metamaterial demonstrates promising application potential in the fields of adaptive electromagnetic camouflage and stealth protection.

DNA origami (DO) has emerged as a powerful technique for constructing nanoscale structures and devices. However, conventional folding protocols for complex 3D DO structures are slow, typically requiring 24 h or longer, limiting scalability for practical applications. Here, we investigate the role of the temperature ramp in DO folding and propose a modified protocol that confines annealing to a 60°C–40°C window. Using four distinct designs, a 20‐helix square box, a 24‐helix bundle, a 13‐helix ring, and a switchable cross structure, we evaluate folding yield, structural uniformity, and functional performance across a range of folding times and buffer conditions. We find that folding occurs rapidly within the 60°C–40°C window, with over 85% of the yield of the conventional 30 h protocol achieved within 1–3 h. Functional switching of the cross structure is retained even in samples folded in 30 min. For aggregation‐prone structures, such as the 13‐ring, the shorter ramp reduces multimer formation and improves the usable yield compared to prolonged folding. These findings confirm the critical influence of the temperature ramp in DO assembly and provide a broadly applicable protocol for faster folding, with potential impact in rapid prototyping, screening, and applications such as plasmonics, sensing, lithography, and metamaterials.