{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,8]],"date-time":"2026-01-08T07:36:57Z","timestamp":1767857817416,"version":"3.49.0"},"reference-count":49,"publisher":"Wiley","issue":"12","license":[{"start":{"date-parts":[[2025,7,15]],"date-time":"2025-07-15T00:00:00Z","timestamp":1752537600000},"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":["2018\u2010052541"],"award-info":[{"award-number":["2018\u2010052541"]}],"id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003725","name":"National Research Foundation of Korea","doi-asserted-by":"publisher","award":["2021\u2010017476"],"award-info":[{"award-number":["2021\u2010017476"]}],"id":[{"id":"10.13039\/501100003725","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":[[2025,12]]},"abstract":"<jats:p>Versatile changes in shape and mechanical properties can take the adaptability and functionality of soft machines to the next level for operating in complex, inaccessible environments. Soft machines designed with origami or kirigami, the ancient paper art of folding or cutting, have been shown to perform remarkably in severe geometric conditions or situations through shape morphing. However, conventional origami\u2010 or kirigami\u2010inspired machines rely on a single, monotonous morphing pathway, thereby limiting their achievable functions. Recent designs integrate both origami and kirigami to enable multimorphing; however, they frequently require numerous actuators or inputs, increasing system complexity. Here, a highly deformable \u201cori\u2010kirigami\u201d robotic structure is presented by operating both folds and cuts on a 2D tessellated sheet, possessing multiple morphing pathways and tunable mechanical properties. The geometry and mechanics of the ori\u2010kirigami structure are analyzed using theoretical modeling and experiments with paper prototypes. Exploiting these merits, a multimodal soft robot capable of steering into confined gaps and manipulating obstacles encountered in its path is designed and demonstrated. This work can be used to design morphing machines that need to adapt to intricate environments, such as the human body and a disaster area.<\/jats:p>","DOI":"10.1002\/aisy.202500229","type":"journal-article","created":{"date-parts":[[2025,7,15]],"date-time":"2025-07-15T13:54:05Z","timestamp":1752587645000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Fold\u2010Cut Structures with Tunable Stiffness for Multimorphing Soft Robots"],"prefix":"10.1002","volume":"7","author":[{"given":"Ganguk","family":"Lee","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering Seoul National University  Seoul 08826 Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6813-2398","authenticated-orcid":false,"given":"Ho\u2010Young","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Seoul National University  Seoul 08826 Republic of Korea"},{"name":"Institute of Advanced Machines and Design Seoul National University  Seoul 08826 Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2025,7,15]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1116564108"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar3449"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aan3028"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1038\/s42256-020-00263-1"},{"key":"e_1_2_9_7_1","first-page":"1","volume":"618","author":"Miura K.","year":"1985","journal-title":"Inst. 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