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It, however, remains a challenge to drive origami robots with in\u2009situ active materials that imply minimal added mass and complexity and can be easily controlled to achieve multiple actuation modalities. Herein, inspired by the Twisted Tower origami structure, dielectrophoretic liquid zipping actuation concept is employed to develop a modular architecture, capable of achieving complicated motions with multiple degrees of freedom (DoF). The experimental results show a maximum of 3.9\u2009degrees tilting per layer toward any desired direction, a 56.1% contraction of the original length, and 5.4\u2009degrees twisting per layer. Each layer can generate a maximum contractile force of 1.03\u2009N with a maximum 64.7% power efficiency and 2.775\u2009W\u2009kg<jats:sup>\u22121<\/jats:sup> power\u2010to\u2010weight ratio. A modified heterochiral arrangement of this modular actuator is proposed to enhance controllability across various movement modes. Its use in robotic\u2010wrist\u2010like actuation has been demonstrated, highlighting its significant potential for integration into soft robotic multi\u2010DoF structures, such as continuum arms.<\/jats:p>","DOI":"10.1002\/aisy.202300738","type":"journal-article","created":{"date-parts":[[2024,4,8]],"date-time":"2024-04-08T13:10:30Z","timestamp":1712581830000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Origami\u2010Inspired Modular Electro\u2010Ribbon Actuator for Multi\u2010Degrees of Freedom Motion"],"prefix":"10.1002","volume":"6","author":[{"given":"Ningzhe","family":"Hou","sequence":"first","affiliation":[{"name":"Department of Bioengineering Imperial College London  86 Wood Ln London W12 0BZ UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jian","family":"Wen","sequence":"additional","affiliation":[{"name":"Department of Bioengineering Imperial College London  86 Wood Ln London W12 0BZ UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuhan","family":"Pan","sequence":"additional","affiliation":[{"name":"Department of Bioengineering Imperial College London  86 Wood Ln London W12 0BZ UK"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9742-5931","authenticated-orcid":false,"given":"Majid","family":"Taghavi","sequence":"additional","affiliation":[{"name":"Department of Bioengineering Imperial College London  86 Wood Ln London W12 0BZ UK"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2024,4,8]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-023-39980-7"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574722000856"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.3390\/s22145370"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364920909905"},{"key":"e_1_2_9_6_1","unstructured":"Origami \u2010 History of Origami | Britannica https:\/\/www.britannica.com\/art\/origami\/History\u2010of\u2010origami(accessed: September 2022)."},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-018-0009-8"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2697310"},{"key":"e_1_2_9_9_1","unstructured":"S. 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