Fig. 2: Theoretical analysis, finite element simulations, and reproductivity test of magneto-origami machines.
From: High-throughput fabrication of soft magneto-origami machines
a Schematic illustration showing the shape-morphing of the single-crease magneto-origami actuated by a magnetic field. Equilibrium is reached when the total driving magnetic torque Tm is equal to elastic torque Te. b Comparison of deformation of single-crease origami between experiments and finite element simulations. c Rotation angle \(\beta \) as a function of applied magnetic field strength up to 200 mT. d Example of folding Miura magneto-origami from the 2D magnetic sheet, in which red solid lines represent the mountain folds while black dashed lines denote valley folds. The left insert shows the magnetic polarity pattern where cross means magnetization pointing inward while blue represents magnetization pointing outward. The right insert shows the finalized Miura magneto-origami. e Manipulating Miura magneto-origami machine by a robotic arm. f By changing the actuation distance (denoted as d) with a robotic arm, the magnetic fields at the Miura magneto-origami machine can be accurately tuned. g Reducing the actuation distance d, the Miura magneto-origami machine shrinks. h Demonstration of shape-morphing of Miura magneto-origami under different magnetic fields. i Comparison between the measured magnetic field strength ± standard errors between the robotic arm and human hands of eight volunteers at actuation distance d = 32.2 and 43.0 mm, respectively. j Statistical analysis of reproductivity and performance evaluation of Miura magneto-origami machines fabricated by eight volunteers each of whom folded seven samples. Each solid curve represents the mean width of seven samples fabricated by a specific volunteer who manually operated the magnet. The error bar shows the width variation of the seven samples. The dashed black curve shows the mean width of seven samples fabricated by volunteer #7 operated by the robotic arm.
