Fig. 6: Demonstrations of applications of magneto-origami machines.

a The optical image of the folded magneto-origami charging robot (MC robot). Insert: the origami pattern of the MC robot. b The locomotion and on-demand deployment of the MC robot in a pig stomach phantom by vibrating the magnet at the frequency of 40 Hz. c The deployed MC robot can be remotely charged by the alternating magnetic field. d The logical circuit design of mechanical 8–3 encoder where Y0–Y7 represent the input channel and A0–A2 denote the output. e The truth table for the magneto-origami mechanical encoder. f Representative examples of the 8–3 mechanical encoder under different inputs. The red square in the circular inset represents the position of the magnet. g Dynamic locomotion and on-demand cargo release of the magneto-origami quadruped robot. h The bending angle (black line) and transportation displacement of the frontal legs (red line) in two actuation cycles. i By controlling the magnet via the motor, the butterfly can flap its wings and the flower is blooming up, while beautiful background music can be played during the actuation process. j Top view of the magneto-origami art. k Shape-morphing of the flower and butterfly.