{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,21]],"date-time":"2026-10-21T05:39:47Z","timestamp":1792561187574,"version":"4.5.0"},"reference-count":47,"publisher":"Wiley","license":[{"start":{"date-parts":[[2026,10,20]],"date-time":"2026-10-20T00:00:00Z","timestamp":1792454400000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2026,10,20]],"date-time":"2026-10-20T00:00:00Z","timestamp":1792454400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"content-domain":{"domain":["advanced.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Advanced Science"],"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>\n                    Kinesthetic feedback gloves play a central role in immersive virtual and augmented reality (VR\/AR) by enabling the perception of object shape, stiffness, and spatial constraints. However, key challenges remain: 1) achieving a large stiffness contrast between free\u2010space and constrained\u2010space states, 2) enabling independent actuation on finger joints, and 3) maintaining lightweight, low\u2010power wearable operation. Here, we introduce MagGami, a miniaturized origami\u2010based variable\u2010stiffness actuator weighing 1.2\u00a0g for distributed joint\u2010space integration. By combining origami geometric interlocking with an electromagnetic bistable mechanism, it can be triggered by transient current pulses at the flattened 0\u00b0 configuration of the origami mechanism. MagGami switches from a freely compliant state to a self\u2010locked high\u2010resistance state with a mean locking response time of 102.8\u00a0ms, while requiring no coil power to hold the locked state. The mean device\u2010level locked\u2010to\u2010free effective rotational\u2010stiffness ratio is 795.46, corresponding to a module\u2010level stiffness\u2010switching density of 6.63 \u00d7 10\n                    <jats:sup>5<\/jats:sup>\n                    kg\n                    <jats:sup>\u2212<\/jats:sup>\n                    <jats:sup>1<\/jats:sup>\n                    , and the specified switching cycle consumes 444 mJ. MagGami uses distributed joint\u2010space actuation to deliver lightweight, independently addressable binary constraint cues at individual finger joints, thereby enhancing the perception of virtual spatial constraints and high\u2010resistance contact in VR\/AR interactions. This work demonstrates a compact and energy\u2010efficient strategy for next\u2010generation wearable haptic interfaces.\n                  <\/jats:p>","DOI":"10.1002\/advs.78363","type":"journal-article","created":{"date-parts":[[2026,10,21]],"date-time":"2026-10-21T04:55:32Z","timestamp":1792558532000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["MagGami: An Electromagnetic Origami Actuator With High Stiffness\u2010Switching Density for Lightweight Joint\u2010Space Wearable Haptics"],"prefix":"10.1002","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-5688-9473","authenticated-orcid":false,"given":"Tianhao","family":"Jin","sequence":"first","affiliation":[{"name":"State Key Laboratory of Virtual Reality Technology and Systems Beihang University  Beijing China"},{"name":"School of Mechanical Engineering and Automation Beihang University  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zirui","family":"Niu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Virtual Reality Technology and Systems Beihang University  Beijing China"},{"name":"School of Mechanical Engineering and Automation Beihang University  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qingyun","family":"Tang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Virtual Reality Technology and Systems Beihang University  Beijing China"},{"name":"School of Mechanical Engineering and Automation Beihang University  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6561-7058","authenticated-orcid":false,"given":"Zemin","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Virtual Reality Technology and Systems Beihang University  Beijing China"},{"name":"School of Mechanical Engineering and Automation Beihang University  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yu","family":"Qiao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Virtual Reality Technology and Systems Beihang University  Beijing China"},{"name":"School of Mechanical Engineering and Automation Beihang University  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guocai","family":"Yao","sequence":"additional","affiliation":[{"name":"Beijing Academy of Artificial Intelligence  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yong","family":"Zhou","sequence":"additional","affiliation":[{"name":"Linkerbot Beijing Technology Co., Ltd  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2706-5907","authenticated-orcid":false,"given":"Boxue","family":"Shan","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Virtual Reality Technology and Systems Beihang University  Beijing China"},{"name":"School of Mechanical Engineering and Automation Beihang University  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yan","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Virtual Reality Technology and Systems Beihang University  Beijing China"},{"name":"School of Mechanical Engineering and Automation Beihang University  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3178-6494","authenticated-orcid":false,"given":"Dangxiao","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Virtual Reality Technology and Systems Beihang University  Beijing China"},{"name":"School of Mechanical Engineering and Automation Beihang University  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,10,20]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10055\u2010025\u201001147\u20108"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.34133\/research.0333"},{"key":"e_1_2_10_4_1","doi-asserted-by":"crossref","unstructured":"K. B.Shimoga \u201cA Survey of Perceptual Feedback Issues in Dexterous Telemanipulation. II. Finger Touch Feedback \u201d inProceedings of IEEE Virtual Reality Annual International Symposium(IEEE 1993) 271\u2013279 https:\/\/doi.org\/10.1109\/VRAIS.1993.380769.","DOI":"10.1109\/VRAIS.1993.380769"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202417906"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.34133\/research.1192"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1038\/s44222\u2010025\u201000274\u2010w"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2022.3180052"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijhcs.2025.103507"},{"key":"e_1_2_10_10_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41578-025-00877-0"},{"key":"e_1_2_10_11_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41583\u2010021\u201000528\u20107"},{"key":"e_1_2_10_12_1","doi-asserted-by":"publisher","DOI":"10.1002\/j.2040\u20104603.2018.tb00045.x"},{"key":"e_1_2_10_13_1","doi-asserted-by":"publisher","DOI":"10.1007\/s42235\u2010024\u201000642\u2010z"},{"key":"e_1_2_10_14_1","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202301044"},{"key":"e_1_2_10_15_1","doi-asserted-by":"publisher","DOI":"10.1038\/s42256\u2010023\u201000728\u2010z"},{"key":"e_1_2_10_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2023.3269063"},{"key":"e_1_2_10_17_1","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.202502222"},{"key":"e_1_2_10_18_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467\u2010022\u201031893\u20101"},{"key":"e_1_2_10_19_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3172498"},{"key":"e_1_2_10_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2927940"},{"key":"e_1_2_10_21_1","doi-asserted-by":"crossref","unstructured":"Q.Tong W.Shen andD.Wang \u201cHaptic Rendering of Dynamic Hand Interaction for an Impedance\u2010Controlled Glove \u201d in2023 IEEE World Haptics Conference (WHC)(IEEE 2023) 259\u2013265.","DOI":"10.1109\/WHC56415.2023.10224470"},{"key":"e_1_2_10_22_1","doi-asserted-by":"crossref","unstructured":"I.Choi E. W.Hawkes andD. L.Christensen \u201cWolverine: A Wearable Haptic Interface for Grasping in Virtual Reality \u201d inIEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)(IEEE 2016) 986\u2013993.","DOI":"10.1109\/IROS.2016.7759169"},{"key":"e_1_2_10_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2956954"},{"key":"e_1_2_10_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2026.117514"},{"key":"e_1_2_10_25_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2018.2879812"},{"key":"e_1_2_10_26_1","doi-asserted-by":"publisher","DOI":"10.1038\/s44287\u2010024\u201000089\u20108"},{"key":"e_1_2_10_27_1","doi-asserted-by":"crossref","unstructured":"N.VanichvoranunandS. H.Yoon \u201cA Lightweight Wearable Multi\u2010joint Force Feedback for High Definition Grasping in VR \u201d in2023 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW)(IEEE 2023) 625\u2013626.","DOI":"10.1109\/VRW58643.2023.00155"},{"key":"e_1_2_10_28_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3192979"},{"key":"e_1_2_10_29_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2008.2010934"},{"key":"e_1_2_10_30_1","doi-asserted-by":"publisher","DOI":"10.1007\/s41315\u2010021\u201000197\u2010w"},{"key":"e_1_2_10_31_1","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2020.541105"},{"key":"e_1_2_10_32_1","doi-asserted-by":"crossref","unstructured":"N.Takahashi H.Takahashi andH.Koike \u201cSoft Exoskeleton Glove Enabling Force Feedback for Human\u2010Like Finger Posture Control With 20 Degrees of Freedom \u201d in2019 IEEE World Haptics Conference(WHC)(IEEE 2019) 217\u2013222.","DOI":"10.1109\/WHC.2019.8816142"},{"key":"e_1_2_10_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2019.2908636"},{"key":"e_1_2_10_34_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.matdes.2023.112264"},{"key":"e_1_2_10_35_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467\u2010024\u201055591\u20102"},{"key":"e_1_2_10_36_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.aab2870"},{"key":"e_1_2_10_37_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467\u2010023\u201037343\u2010w"},{"key":"e_1_2_10_38_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.xcrp.2025.102402"},{"key":"e_1_2_10_39_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2025.3593084"},{"key":"e_1_2_10_40_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41928-025-01515-x"},{"key":"e_1_2_10_41_1","doi-asserted-by":"publisher","DOI":"10.3390\/bios15010008"},{"key":"e_1_2_10_42_1","doi-asserted-by":"publisher","DOI":"10.1038\/s42256\u2010023\u201000671\u2010z"},{"key":"e_1_2_10_43_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.cej.2024.151462"},{"key":"e_1_2_10_44_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41586\u2010025\u201008851\u20100"},{"key":"e_1_2_10_45_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2017.08.032"},{"key":"e_1_2_10_46_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.adg4276"},{"key":"e_1_2_10_47_1","doi-asserted-by":"publisher","DOI":"10.1002\/adma.202008751"},{"key":"e_1_2_10_48_1","unstructured":"M.Hepokoski A.Curran T.Viola et\u00a0al. \u201cThermal Acceptability Limits for Wearable Electronic Devices \u201d in2021 37th Semiconductor Thermal Measurement Modeling & Management Symposium (SEMI\u2010THERM). (IEEE 2021) 16\u201319."}],"container-title":["Advanced Science"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/advs.78363","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/full-xml\/10.1002\/advs.78363","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/advs.78363","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,10,21]],"date-time":"2026-10-21T04:55:33Z","timestamp":1792558533000},"score":1,"resource":{"primary":{"URL":"https:\/\/advanced.onlinelibrary.wiley.com\/doi\/10.1002\/advs.78363"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,10,20]]},"references-count":47,"alternative-id":["10.1002\/advs.78363"],"URL":"https:\/\/doi.org\/10.1002\/advs.78363","archive":["Portico"],"relation":{},"ISSN":["2198-3844","2198-3844"],"issn-type":[{"value":"2198-3844","type":"print"},{"value":"2198-3844","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,10,20]]},"assertion":[{"value":"2026-06-24","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-10-07","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2026-10-20","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e78363"}}