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The configuration variation behaviors are realized by recombinant kirigami segments, and thus, with only head segment actuation, the gripper slickly deforms among different configurations. Revolutionizing the conventional deployable systems, the proposed design methodology can realize configuration variation\u2010locking integration, and reusing of multi\u2010stability property. To realize rapid configuration switching with the lowest energy input, a nested origami actuation, called trigger structure, is given. Furthermore, advanced design for the trigger structure is carried out, broadening the bistable state to four\u2010stable geometric configurations for enhanced reachable space of the flexible gripper. By combining the design of the advanced trigger structure, the flexible gripper enables an energy\u2010free switching behavior between deployed and curled configurations in symmetrical and asymmetrical planes. The asymmetrical configurations, induced by the multi\u2010stability property of the advanced trigger structure, make the flexible gripper appropriate for various moving velocities capture. The proposed kirigami multi\u2010stable flexible gripper has significant capture capability for moving targets with different types and motion attitudes. Summarily, the proposed kirigami multi\u2010stable flexible gripper opens a new avenue for flexible robots, with potential applications in space exploration, grippers, and beyond.<\/jats:p>","DOI":"10.1002\/aisy.202400038","type":"journal-article","created":{"date-parts":[[2024,4,26]],"date-time":"2024-04-26T22:10:39Z","timestamp":1714169439000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["A Kirigami Multi\u2010Stable Flexible Gripper with Energy\u2010Free Configurations Switching"],"prefix":"10.1002","volume":"6","author":[{"given":"Zhifeng","family":"Qi","sequence":"first","affiliation":[{"name":"School of Aerospace Engineering and Applied Mechanics Tongji University  Shanghai 200092 P. R. 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