Magnetically Steerable Serial and Parallel Structures by Mold-Free Origami Templating and Domain Setting

Magnetically responsive elastomers generate continuous motions and locomotion through changes in external magnetic fields. The magnetic particles in an elastomer achieve shape-morphing, but overall structural integrity can be limited by the compliance of elastomers. To overcome this limitation, magnetic elastomers are enhanced with programmable template creases to generate deployable structures as a library. Current methods to program magnetic domains into actuatable segments use sequential or continuous rasterized magnetization, which is gradual and requires dedicated equipment. To achieve faster magnetic domain programming, template folding for the magnetization process is explored. The crease pattern can reconfigure facets to attain the desired magnetization direction and act as discrete mechanical joints. Crease patterns from the foldable templates allow more variations in robotic kinematics and discretize the deformations. The approach using magnetic elastomers and folding templates as a library can simultaneously program a wide range of deployable mechanisms with inherent crease foldability. Additionally, magnetic responsive robots can encompass bistable actuation imparted from the crease design. Functionalization of magnetic origami structures is demonstrated by imbuing the template material with catalytic properties. These robots have the potential to be deployed from a compact folded form to confined environments, enabling a broader spectrum of minimally invasive procedures.