{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,12]],"date-time":"2026-10-12T19:33:07Z","timestamp":1791833587098,"version":"4.3.4"},"reference-count":31,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2025,2,1]],"date-time":"2025-02-01T00:00:00Z","timestamp":1738368000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Soft Robotics"],"published-print":{"date-parts":[[2025,2,1]]},"abstract":"<jats:p>In recent years, the exploration of worm-like robots has garnered much attention for their adaptability in confined environments. However, current designs face challenges in fully utilizing the mechanical properties of structures\/materials to replicate the superior performance of real worms. In this article, we propose an approach to address this limitation based on the stacked Miura origami structure, achieving the seamless integration of structural design, mechanical properties, and robotic functionalities, that is, the mechanical properties originate from the geometric design of the origami structure and at the same time serve the locomotion capability of the robot. Three major advantages of our design are: the implementation of origami technology facilitates a more accessible and convenient fabrication process for segmented robotic skin with periodicity and flexibility, as well as robotic bristles with anchoring effect; the utilization of the Poisson\u2019s ratio effect for deformation amplification; and the incorporation of localized folding motion for continuous peristaltic locomotion. Utilizing the high geometric designability inherent in origami, our robot demonstrates customizable morphing and quantifiable mechanical properties. Based on the origami worm-like robot prototype, we experimentally verified the effectiveness of the proposed design in realizing the deformation amplification effect and localized folding motion. By comparing this to a conventional worm-like robot with discontinuous deformation, we highlight the merits of these mechanical properties in enhancing the robot\u2019s mobility. To sum up, this article showcases a bottom-up approach to robot development, including geometric design, mechanical characterization, and functionality realization, presenting a unique perspective for advancing the development of bioinspired soft robots.<\/jats:p>","DOI":"10.1089\/soro.2023.0246","type":"journal-article","created":{"date-parts":[[2024,7,4]],"date-time":"2024-07-04T12:54:21Z","timestamp":1720097661000},"page":"34-44","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":9,"title":["Origami-Enhanced Mechanical Properties for Worm-Like Robot"],"prefix":"10.1177","volume":"12","author":[{"given":"Zuolin","family":"Liu","sequence":"first","affiliation":[{"name":"Institute of AI and Robotics, State Key Laboratory of Medical Neurobiology, MOE Engineering Research Center of AI &amp; Robotics, Fudan University, Shanghai, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zihan","family":"He","sequence":"additional","affiliation":[{"name":"Institute of AI and Robotics, State Key Laboratory of Medical Neurobiology, MOE Engineering Research Center of AI &amp; Robotics, Fudan University, Shanghai, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiao","family":"Hu","sequence":"additional","affiliation":[{"name":"Institute of AI and Robotics, State Key Laboratory of Medical Neurobiology, MOE Engineering Research Center of AI &amp; Robotics, Fudan University, Shanghai, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zitao","family":"Sun","sequence":"additional","affiliation":[{"name":"Institute of AI and Robotics, State Key Laboratory of Medical Neurobiology, MOE Engineering Research Center of AI &amp; Robotics, Fudan University, Shanghai, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qi","family":"Ge","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jian","family":"Xu","sequence":"additional","affiliation":[{"name":"Institute of AI and Robotics, State Key Laboratory of Medical Neurobiology, MOE Engineering Research Center of AI &amp; Robotics, Fudan University, Shanghai, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6691-0531","authenticated-orcid":false,"given":"Hongbin","family":"Fang","sequence":"additional","affiliation":[{"name":"Institute of AI and Robotics, State Key Laboratory of Medical Neurobiology, MOE Engineering Research Center of AI &amp; Robotics, Fudan University, Shanghai, China."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2025,2,14]]},"reference":[{"key":"e_1_3_5_2_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41467-017-00685-3"},{"key":"e_1_3_5_3_2","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aar7555"},{"issue":"14","key":"e_1_3_5_4_2","first-page":"1","article-title":"A CPG-based versatile control framework for metameric earthworm-like robotic locomotion","volume":"10","author":"Zhou Q","year":"2023","unstructured":"Zhou Q, , Xu J, , Fang H. 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