{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,6]],"date-time":"2026-10-06T22:36:30Z","timestamp":1791326190511,"version":"4.3.1"},"reference-count":37,"publisher":"The Royal Society","issue":"2283","license":[{"start":{"date-parts":[[2024,10,7]],"date-time":"2024-10-07T00:00:00Z","timestamp":1728259200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/royalsociety.org\/-\/media\/journals\/author\/Licence-to-Publish-20062019-final.pdf"},{"start":{"date-parts":[[2024,10,7]],"date-time":"2024-10-07T00:00:00Z","timestamp":1728259200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/royalsociety.org\/journals\/ethics-policies\/data-sharing-mining\/"}],"funder":[{"DOI":"10.13039\/100000147","name":"Division of Civil, Mechanical & Manufacturing Innovation","doi-asserted-by":"publisher","award":["2126039"],"award-info":[{"award-number":["2126039"]}],"id":[{"id":"10.13039\/100000147","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000147","name":"Division of Civil, Mechanical & Manufacturing Innovation","doi-asserted-by":"crossref","award":["2230321"],"award-info":[{"award-number":["2230321"]}],"id":[{"id":"10.13039\/100000147","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["royalsocietypublishing.org"],"crossmark-restriction":true},"short-container-title":["Phil. Trans. R. Soc. A."],"published-print":{"date-parts":[[2024,10,7]]},"abstract":"<jats:p>With its compactness and foldability, origami has recently been applied to robotic systems to enable versatile robots and mechanisms while maintaining a low weight and compact form. This work investigates how to generate different motions and shapes for origami by tuning its creases\u2019 stiffness on the fly. The stiffness tuning is realized by a composite material made by sandwiching a thermoplastic layer between two shape memory polymer layers. This enables the composite to act as a living hinge, whose stiffness can be actively controlled through Joule heating. To demonstrate our concept, we fabricate an origami module with four variable stiffness joints (VSJs), allowing it to have freely controlled crease stiffnesses across its surface. We characterize the origami module\u2019s versatile motion when heating different VSJs with different temperatures. We further use two origami modules to build a two-legged robot that can locomote on the ground with different locomotion gaits. The same robot is also used as an adaptive gripper for grasping tasks. Our work can potentially enable more versatile robotic systems made from origami as well as other mechanical systems with programmable properties (e.g. mechanical metamaterials).<\/jats:p>\n                  <jats:p>This article is part of the theme issue \u2018Origami\/Kirigami-inspired structures: from fundamentals to applications\u2019.<\/jats:p>","DOI":"10.1098\/rsta.2024.0017","type":"journal-article","created":{"date-parts":[[2024,10,7]],"date-time":"2024-10-07T03:12:17Z","timestamp":1728270737000},"update-policy":"https:\/\/doi.org\/10.1098\/crossmark-policy","source":"Crossref","is-referenced-by-count":7,"title":["Reconfigurable origami with variable stiffness joints for adaptive robotic locomotion and grasping"],"prefix":"10.1098","volume":"382","author":[{"given":"Elisha","family":"Lerner","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Colorado State University, 1374 Campus Delivery, Fort Collins, CO 80523, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhe","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Colorado State University, 1374 Campus Delivery, Fort Collins, CO 80523, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0305-2597","authenticated-orcid":true,"given":"Jianguo","family":"Zhao","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Colorado State University, 1374 Campus Delivery, Fort Collins, CO 80523, 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In Advances in the theory of control, signals and systems with physical modeling (eds J L\u00e9vine, P M\u00fcllhaupt), pp. 77\u201388. Berlin, Heidelberg, Germany: Springer. (doi:10.1007\/978-3-642-16135-3_7)"},{"key":"e_1_3_7_38_2","unstructured":"Lerner E Chen Z Zhao J. 2024 Data from: Reconfigurable origami with variable stiffness joints for adaptive robotic locomotion and grasping. Figshare. 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