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Related Experiment Video

Updated: Feb 17, 2026

Folding and Characterization of a Bio-responsive Robot from DNA Origami
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Ternary Origami Spring Actuator: Multimodal Deformation via Programmable Folding Sequences for Bioinspired Soft

KeWei Qian1, Fang Xie1, PengShuai Nie2

  • 1School of Materials Science and Engineering, Harbin Institute of Technology at Weihai, Weihai, PR China.

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|February 16, 2026
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Summary

This study introduces a novel ternary origami spring actuator capable of multimodal deformations using a single pneumatic source. This programmable soft robot offers potential for autonomous design and deployment in space applications.

Keywords:
bioinspired reconfigurable roboticsmultimodal deformationprogrammable folding sequencesternary origami spring

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Conventional origami structures have limited deformation modes.
  • Multimodal origami designs often require multiple actuators.
  • Addressing these limitations is crucial for advanced soft robotics.

Purpose of the Study:

  • To propose a ternary origami spring structure with integrated multimodal deformations.
  • To achieve single pneumatic source-driven actuation for reconfigurable origami.
  • To explore programmable shape deployment for soft robotic applications.

Main Methods:

  • Designed a ternary origami spring structure with three interwoven inflatable strips.
  • Developed a simulation algorithm to predict shape deployment based on folding sequences.
  • Fabricated functional prototypes based on bio-inspired principles to validate performance.

Main Results:

  • Demonstrated that editing the folding sequence generates complex spatial trajectories.
  • Validated the shape-programming capabilities and operational efficacy of the fabricated prototypes.
  • Confirmed the potential for single pneumatic source-driven multimodal actuation.

Conclusions:

  • The proposed ternary origami spring is a programmable and reconfigurable actuator.
  • This technology shows significant potential for autonomous design and rapid prototyping.
  • The soft robotic system is suitable for unmanned deployment in space applications.