@article{5c98cc80d4f24c3caf88ce9d4d8b53f6,
title = "Soft robotic origami crawler",
abstract = "Biomimetic soft robotic crawlers have attracted extensive attention in various engineering fields, owing to their adaptivity to different terrains. Earthworm-like crawlers realize locomotion through in-plane contraction, while inchworm-like crawlers exhibit out-of-plane bending-based motions. Although in-plane contraction crawlers demonstrate effective motion in confined spaces, miniaturization is challenging because of limited actuation methods and complex structures. Here, we report a magnetically actuated small-scale origami crawler with in-plane contraction. The contraction mechanism is achieved through a four-unit Kresling origami assembly consisting of two Kresling dipoles with two-level symmetry. Magnetic actuation is used to provide appropriate torque distribution, enabling a small-scale and untethered robot with both crawling and steering capabilities. The crawler can overcome large resistances from severely confined spaces by its anisotropic and magnetically tunable structural stiffness. The multifunctionality of the crawler is explored by using the internal cavity of the crawler for drug storage and release. The magnetic origami crawler can potentially serve as a minimally invasive device for biomedical applications.",
author = "Qiji Ze and Shuai Wu and Jun Nishikawa and Jize Dai and Yue Sun and Sophie Leanza and Cole Zemelka and Novelino, {Larissa S.} and Paulino, {Glaucio H.} and Zhao, {Ruike Renee}",
note = "Funding Information: Funding: This work was supported by National Science Foundation (NSF) Career Award, CMMI-2145601 (R.R.Z., Q.Z., S.W., J.N., J.D., Y.S., S.L., and C.Z.); NSF Award, CMMI-2142789 (R.R.Z., Q.Z., S.W., J.N., J.D., Y.S., S.L., and C.Z.); and NSF Award, CMMI-1538830 (G.H.P. and L.S.N.). Endowment was provided by the Raymond Allen Jones Chair at the Georgia Institute of Technology (G.H.P. and L.S.N.). This work was also supported by the Brazilian National Council for Scientific and Technological Development (CNPq), project 235104/2014-0 (L.S.N.) Author contributions: Conceptualization: R.R.Z., Q.Z., and S.W. Methodology: R.R.Z., Q.Z., S.W., and J.N. Investigation: Q.Z., S.W., J.N., Y.S., S.L., and C.Z. Visualization: S.W., J.D., and L.S.N. Funding acquisition: R.R.Z. Project administration: R.R.Z. Supervision: R.R.Z. Writing (original draft): Q.Z., S.W., and R.R.Z. Writing (review and editing): R.R.Z., G.H.P., Q.Z., S.W., J.D., S.L., and C.Z. Competing interests: The authors declare that they have no competing interests. Data and materials availability: All data needed to evaluate the conclusions in the paper are present in the paper and/or the Supplementary Materials. Publisher Copyright: {\textcopyright} 2022 The Authors",
year = "2022",
month = apr,
doi = "10.1126/sciadv.abm7834",
language = "English (US)",
volume = "8",
journal = "Science advances",
issn = "2375-2548",
publisher = "American Association for the Advancement of Science",
number = "13",
}