{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,10]],"date-time":"2026-08-10T10:32:26Z","timestamp":1786357946635,"version":"build-2736575974"},"reference-count":60,"publisher":"Wiley","license":[{"start":{"date-parts":[[2026,8,10]],"date-time":"2026-08-10T00:00:00Z","timestamp":1786320000000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2026,8,10]],"date-time":"2026-08-10T00:00:00Z","timestamp":1786320000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["DCSD\u2010#2528850"],"award-info":[{"award-number":["DCSD\u2010#2528850"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["FRR\u2010#2312422"],"award-info":[{"award-number":["FRR\u2010#2312422"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Science"],"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>Origami\u2010inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random shapes in dynamic working environments often comes at the cost of additional actuation channels and control complexity. Here, we introduce a tendon\u2010driven, robust origami tentacle gripper by exploiting a synergy between local, deterministic deformation programming and global, stochastic entanglements. Each tentacle features carefully placed holes (for routing an actuation tendon), origami creases, and a tapered shape. By tailoring these design features, one can prescribe the shrinking, bending, and twisting deformation, eventually creating deterministic coiling with a simple tendon pull. Then, when multiple coiling tentacles are placed in proximity, stochastic entanglement emerges, allowing the tentacles to braid, knot, and grip objects with random shapes. We derived a simulation model by integrating origami mechanics with Cosserat rods to correlate origami design, tentacle deformation, and collective grasping performance. Then, we experimentally tested how these entangling origami tentacles can grasp objects under gravity and in water. A stow\u2010and\u2010release deployment mechanism was also tested to simulate in\u2010orbit grasping. Overall, this entanglement\u2010enabled tentacle gripper presents a route toward robust object grasping with simple design and\u00a0actuation.<\/jats:p>","DOI":"10.1002\/advs.76810","type":"journal-article","created":{"date-parts":[[2026,8,10]],"date-time":"2026-08-10T09:59:51Z","timestamp":1786355991000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Stochastic Entanglement of Deterministic Origami Tentacles For Robust Robotic Grasping"],"prefix":"10.1002","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-7481-8652","authenticated-orcid":false,"given":"Alec","family":"Boron","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering Virginia Tech 635 Prices Fork Rd Blacksburg Virginia USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0169-3473","authenticated-orcid":false,"given":"Bokun","family":"Zheng","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Virginia Tech 635 Prices Fork Rd Blacksburg Virginia USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0003-9050-5431","authenticated-orcid":false,"given":"Ziyang","family":"Zhou","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Virginia Tech 635 Prices Fork Rd Blacksburg Virginia USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5553-4718","authenticated-orcid":false,"given":"Noel","family":"Naughton","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Virginia Tech 635 Prices Fork Rd Blacksburg Virginia USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0355-1655","authenticated-orcid":false,"given":"Suyi","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Virginia Tech 635 Prices Fork Rd Blacksburg Virginia USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,8,10]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-026-70866-6"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-018-0009-8"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-025-59141-2"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.aab2870"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202525150"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.5194\/ms-2-217-2011"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201805282"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijsolstr.2017.05.028"},{"key":"e_1_2_10_10_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijsolstr.2020.08.010"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4055031"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1509465112"},{"key":"e_1_2_10_13_1","unstructured":"Z.Zhou Y.Phalak V.Deshpande E.O'Brien I.Walker andS.Li \u201cHyper yoshimura: How a Slight Tweak On A Classical Folding Pattern Unleashes Meta\u2010stability for Deployable Robots \u201darXiv preprint arXiv:2505.09919 2025."},{"key":"e_1_2_10_14_1","doi-asserted-by":"publisher","DOI":"10.1098\/rsta.2024.0009"},{"key":"e_1_2_10_15_1","doi-asserted-by":"publisher","DOI":"10.1002\/admi.201800284"},{"key":"e_1_2_10_16_1","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.ads0217"},{"key":"e_1_2_10_17_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.commatsci.2026.114661"},{"key":"e_1_2_10_18_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202512768"},{"key":"e_1_2_10_19_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202300667"},{"key":"e_1_2_10_20_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-025-65464-x"},{"key":"e_1_2_10_21_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/ae190e"},{"key":"e_1_2_10_22_1","doi-asserted-by":"crossref","unstructured":"S.Li J. 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J.Xu et\u00a0al. \u201cA Vacuum\u2010Driven origami \u201cMagic\u2010Ball\u201d Soft Gripper \u201d in2019 International Conference on Robotics and Automation (ICRA)(IEEE 2019) pp.7401\u20137408.","DOI":"10.1109\/ICRA.2019.8794068"},{"key":"e_1_2_10_23_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202000251"},{"key":"e_1_2_10_24_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202400271"},{"key":"e_1_2_10_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3389413"},{"key":"e_1_2_10_26_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aao4369"},{"key":"e_1_2_10_27_1","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/23\/9\/094006"},{"key":"e_1_2_10_28_1","doi-asserted-by":"crossref","unstructured":"T.Ye X.Yuan J.Liu X.Mei X.Niu Y.Song andF.Zhou \u201cIntegrating Large Language Model and Lightweight Network for Robust Multimodal Fault Diagnosis in Wheeled Robots \u201dIEEE\/ASME Transactions on Mechatronics 2026.","DOI":"10.1109\/TMECH.2025.3649690"},{"key":"e_1_2_10_29_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200087"},{"key":"e_1_2_10_30_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-022-28187-x"},{"key":"e_1_2_10_31_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abd6426"},{"key":"e_1_2_10_32_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201707035"},{"key":"e_1_2_10_33_1","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/aa67fd"},{"key":"e_1_2_10_34_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41563-025-02370-z"},{"key":"e_1_2_10_35_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adg3792"},{"key":"e_1_2_10_36_1","doi-asserted-by":"crossref","unstructured":"J.Wu M.Wu C.Wang andG.Xie \u201cMonolithic Programmable Fabric\u2010Stacking Enables Multifunctional Soft Robots \u201dIEEE Transactions on Robotics(2025).","DOI":"10.1109\/TRO.2025.3593118"},{"key":"e_1_2_10_37_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.2209819119"},{"key":"e_1_2_10_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2024.3418277"},{"key":"e_1_2_10_39_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.device.2024.100646"},{"key":"e_1_2_10_40_1","doi-asserted-by":"publisher","DOI":"10.1364\/OE.408910"},{"key":"e_1_2_10_41_1","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.2318769121"},{"issue":"08","key":"e_1_2_10_42_1","first-page":"175","article-title":"Simulation of Rigid Origami","volume":"4","author":"Tachi T.","year":"2009","journal-title":"Origami"},{"key":"e_1_2_10_43_1","first-page":"513","volume-title":"Nonlinear Problems of Elasticity","author":"Antman S. 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