Miniature origami robot for various biological micromanipulations

Robotic micromanipulation is widely applied in biological research and medical procedures, providing a level of operational precision and stability beyond human capability. Compared with traditional micromanipulators that require assembly from many parts, origami manipulators offer advantages such as small size, lightweight, cost-effectiveness, and scalability. However, there are still requirements in biological application to address regarding stiffness, precision, and dexterity. Achieving a compact and functional parallel mechanism through origami structures remains a challenging problem. Here, we present the Micro-X4, a 4-Degree-of-Freedom (4-DoF) origami micromanipulator, which offers a workspace of 756 mm³, 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.