A remotely foldable and actuatable kinematic origami gripper

Abstract The origami-inspired method of fabricating a 3D structure from a 2D sheet through folding offers significant advantages over conventional approaches, such as assembling, particularly in terms of speed, versatility, and the ability to function untethered. Compared to conventional structures composed of links and joints, crease-based hinges experience less friction, making them better suited for shape transformation and kinematic applications, particularly at smaller scales. In recent years, advancements in wireless self-folding technologies for smart sheet materials have led to growing interest in applications such as remotely creating precise structures and tools for use in hard-to-reach places, including inside the body. In this work, we introduce a novel origami gripper system that integrates a versatile crease design and a dual-stage magnetic actuation method. It allows a planar object to be wirelessly self-folded into a gripper, seamlessly enabling it to remotely grasp an object after formation. The gripper’s novel crease design, inspired by scissors linkage systems, allows for sharper fold angles to achieve gripping behavior. The resulting gripper measures 48.75 × 45 mm 2 and weighs just 2.562 g. Self-folding is driven by Joule heating induced by an external magnetic field, which contracts a heat-responsive shrink film at the hinges. A kinematic model describing the structure’s transformation is presented alongside its physical implementation and proof-of-concept experimental verification, demonstrating the system’s potential for untethered, programmable manipulation.