{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,16]],"date-time":"2026-02-16T20:34:02Z","timestamp":1771274042003,"version":"3.50.1"},"reference-count":51,"publisher":"Wiley","issue":"3","license":[{"start":{"date-parts":[[2021,12,16]],"date-time":"2021-12-16T00:00:00Z","timestamp":1639612800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003725","name":"National Research Foundation of Korea","doi-asserted-by":"publisher","award":["2016R1A5A1938472"],"award-info":[{"award-number":["2016R1A5A1938472"]}],"id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003052","name":"Ministry of Trade, Industry and Energy","doi-asserted-by":"publisher","award":["20008908"],"award-info":[{"award-number":["20008908"]}],"id":[{"id":"10.13039\/501100003052","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Intelligent Systems"],"published-print":{"date-parts":[[2022,3]]},"abstract":"<jats:sec><jats:label\/><jats:p>Soft fluidic actuators produce continuous and life\u2010like motions that are intrinsically safe, but current designs are not yet mature enough to enable large deployment with high force and low\u2010cost fabrication methods. Herein, soft fluidic actuators with two superimposed origami architectures are reported. Driven by a fluid input, the presented dual\u2010origami soft actuators produce quasisequential deployment and bending motion that is guided by unsymmetric unfolding of low\u2010stretchable origami components. The dominance between the deployment and bending can be shifted by varying the unfolding behavior, enabling preprogramming of the motion. The proposed origami\u2010inspired soft actuators are directly fabricated by low\u2010cost fused deposition modeling 3D printing and subjected to heat treatment postprocessing to enhance the fluid sealing performance. Finally, soft gripper applications are presented and they successfully demonstrate gripping tasks where each requires strength, delicacy, precision, and dexterity. The dual\u2010origami approach offers a design guidance for soft robots to embody grow\u2010and\u2010retract motion with a small initial form factor, promising for applications in next\u2010generation soft robotic systems. An interactive preprint version of the article can be found here: <jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"https:\/\/www.authorea.com\/doi\/full\/10.22541\/au.163698906.68661340\">https:\/\/www.authorea.com\/doi\/full\/10.22541\/au.163698906.68661340<\/jats:ext-link>.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202100176","type":"journal-article","created":{"date-parts":[[2021,12,16]],"date-time":"2021-12-16T06:08:10Z","timestamp":1639634890000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":43,"title":["A Dual\u2010Origami Design that Enables the Quasisequential Deployment and Bending Motion of Soft Robots and Grippers"],"prefix":"10.1002","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6126-7935","authenticated-orcid":false,"given":"Woongbae","family":"Kim","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering Seoul National University  1 Gwanak-ro, Gwanak-gu Seoul 08826 Korea"}]},{"given":"Jaemin","family":"Eom","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Seoul National University  1 Gwanak-ro, Gwanak-gu Seoul 08826 Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1997-9063","authenticated-orcid":false,"given":"Kyu-Jin","family":"Cho","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Seoul National University  1 Gwanak-ro, Gwanak-gu Seoul 08826 Korea"}]}],"member":"311","published-online":{"date-parts":[[2021,12,16]]},"reference":[{"key":"e_1_2_8_2_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0022"},{"key":"e_1_2_8_3_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaz0492"},{"key":"e_1_2_8_4_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aan3028"},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1038\/s42256-020-00263-1"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar3449"},{"key":"e_1_2_8_7_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000038"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0001"},{"key":"e_1_2_8_9_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.aao6139"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0134"},{"key":"e_1_2_8_11_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.1602045"},{"key":"e_1_2_8_12_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202004975"},{"key":"e_1_2_8_13_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0082"},{"key":"e_1_2_8_14_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2015.0009"},{"key":"e_1_2_8_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2588888"},{"key":"e_1_2_8_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2014.2362863"},{"key":"e_1_2_8_17_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1003250107"},{"key":"e_1_2_8_18_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0136"},{"key":"e_1_2_8_19_1","doi-asserted-by":"publisher","DOI":"10.1002\/adem.201700016"},{"key":"e_1_2_8_20_1","doi-asserted-by":"publisher","DOI":"10.1002\/ange.201006464"},{"key":"e_1_2_8_21_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201303288"},{"key":"e_1_2_8_22_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.aaz6912"},{"key":"e_1_2_8_23_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0030"},{"key":"e_1_2_8_24_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2015.0001"},{"key":"e_1_2_8_25_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201600164"},{"key":"e_1_2_8_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2851025"},{"key":"e_1_2_8_27_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201908919"},{"key":"e_1_2_8_28_1","doi-asserted-by":"publisher","DOI":"10.1242\/bio.016527"},{"key":"e_1_2_8_29_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1620612114"},{"key":"e_1_2_8_30_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aaz6262"},{"key":"e_1_2_8_31_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abe0201"},{"key":"e_1_2_8_32_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202000349"},{"key":"e_1_2_8_33_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar2915"},{"key":"e_1_2_8_34_1","doi-asserted-by":"publisher","DOI":"10.1038\/s42256-020-0203-4"},{"key":"e_1_2_8_35_1","doi-asserted-by":"publisher","DOI":"10.2514\/1.A32598"},{"key":"e_1_2_8_36_1","doi-asserted-by":"publisher","DOI":"10.2514\/1.J058778"},{"key":"e_1_2_8_37_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-017-1545-1"},{"key":"e_1_2_8_38_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201102978"},{"key":"e_1_2_8_39_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1713450114"},{"key":"e_1_2_8_40_1","unstructured":"B.Chen Z.Shao Z.Xie J.Liu F.Pan L.He L.Zhang Y.Zhang X.Ling F.Peng W.Yun L.Wen 2021 2000251."},{"key":"e_1_2_8_41_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.aap7753"},{"key":"e_1_2_8_42_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aau0275"},{"key":"e_1_2_8_43_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aay3493"},{"key":"e_1_2_8_44_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2014.0023"},{"key":"e_1_2_8_45_1","first-page":"217","volume":"53","author":"Tachi T.","year":"2012","journal-title":"J. Int. Assoc. Shell Spat. Struct."},{"key":"e_1_2_8_46_1","unstructured":"mGrip modular gripping system (Soft Robotics inc.) https:\/\/www.softroboticsinc.com\/products\/mgrip-modular-gripping-solution-for-machine-builders (accessed: May 2021)."},{"key":"e_1_2_8_47_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2714141"},{"key":"e_1_2_8_48_1","doi-asserted-by":"crossref","unstructured":"J. H.Low J. Y.Goh N.Cheng P. M.Khin Q. Q.Han C. H.Yeow in2020 IEEE Int. Conf. Robot. Autom. IEEE Piscataway NJ2020 pp.7979\u20137985.","DOI":"10.1109\/ICRA40945.2020.9196837"},{"key":"e_1_2_8_49_1","unstructured":"The RightPick system (RightHand Robotics Inc.) https:\/\/www.righthandrobotics.com\/products (accessed: May 2021)."},{"key":"e_1_2_8_50_1","doi-asserted-by":"crossref","unstructured":"A.Koivikko V.Sariola in2019 IEEE Int. Conf. Soft Robot. IEEE Piscataway NJ2019 pp.509\u2013513.","DOI":"10.1109\/ROBOSOFT.2019.8722741"},{"key":"e_1_2_8_51_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202003387"},{"key":"e_1_2_8_52_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-018-0002-2"}],"container-title":["Advanced Intelligent Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202100176","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/aisy.202100176","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/aisy.202100176","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,7]],"date-time":"2025-10-07T23:55:58Z","timestamp":1759881358000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/aisy.202100176"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,12,16]]},"references-count":51,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2022,3]]}},"alternative-id":["10.1002\/aisy.202100176"],"URL":"https:\/\/doi.org\/10.1002\/aisy.202100176","archive":["Portico"],"relation":{},"ISSN":["2640-4567","2640-4567"],"issn-type":[{"value":"2640-4567","type":"print"},{"value":"2640-4567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,12,16]]},"assertion":[{"value":"2021-10-29","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2021-12-16","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"2100176"}}