Miniature origami robot for various biological micromanipulations

, with a precision of 346 nm and a stiffness of 2738 N/m. We conduct a series of micromanipulation tasks, ranging from the tissue scale to the subcellular scale, including pattern cutting, cell positioning and puncturing, as well as cell cutting and insertion. Contact force measurement is further integrated to demonstrate precise control over cell operations and puncturing. We envision the Micro-X4 as the foundation for the next generation of lightweight and compact micromanipulation devices.