Kirigami/origami: unfolding the new regime of advanced 3D microfabrication/nanofabrication with "folding"

Polymorphic Self-Assembly with Procedural Flexibility for Monodisperse Quaternary Protein Structures of DegQ Enzymes

As large molecular tertiary structures, some proteins can act as small robots that find, bind, and chaperone target protein clients, showing the potential to serve as smart building blocks in self-assembly fields. Instead of using such intrinsic functions, most self-assembly methodologies for proteins aim for de novo-designed structures with accurate geometric assemblies, which can limit procedural flexibility. Here, a strategy enabling polymorphic clustering of quaternary proteins, exhibiting simplicity and flexibility of self-assembling paths for proteins in forming monodisperse quaternary cage particles is presented. It is proposed that the enzyme protomer DegQ, previously solved at low resolution, may potentially be usable as a threefold symmetric building block, which can form polyhedral cages incorporated by the chaperone action of DegQ in the presence of protein clients. To obtain highly monodisperse cage particles, soft, and hence, less resistive client proteins, which can program the inherent chaperone activity of DegQ to efficient formations of polymorphic cages, depending on the size of clients are utilized. By reconstructing the atomic resolution cryogenic electron microscopy DegQ structures using obtained 12- and 24-meric clusters, the polymorphic clustering of DegQ enzymes is validated in terms of soft and rigid domains, which will provide effective routes for protein self-assemblies with procedural flexibility.

Analysis of sandwich graphene origami composite plate sandwiched by piezoelectric/piezomagnetic layers: A higher-order electro-magneto-elastic analysis

This work applies a higher order thickness-stretched model for the electro-elastic analysis of the composite graphene origami reinforced square plate sandwiched by the piezoelectric/piezomagnetic layers subjected to the thermal, electric, magnetic and mechanical loads. The plate is manufactured of a copper matrix reinforced with graphene origami where the effective material properties are calculated based on the micromechanical models as a function of volume fraction and folding degree of graphene origami, material properties of matrix, reinforcement, and local temperature. The governing equations are derived using the virtual work principle in terms of the bending, shear and stretching functions, in-plane displacements, electric, and magnetic potentials. The numerical results including various displacement components, maximum electric, and magnetic potentials are presented with changes of volume fraction, folding degree of reinforcement, electrical, magnetic, and thermal loading. A verification investigation is presented for approve of the methodology, and the solution procedure. The main novelty of this work is simultaneous effect of the thickness stretching and the multi-field loading on the electromagnetic bending results of the sandwich plate. Another novelty of this work is usage of graphene origami nano-reinforcement as a controllable material in a sandwich structure subjected to multi-field loadings. The results show an increase in bending, shear, and stretching deflections with an increase in electromagnetic loads, and folding degree as well as a decrease in volume fraction of reinforcement.

Optoelectronically navigated nano-kirigami microrotors

With the rapid development of micro/nanofabrication technologies, the concept of transformable kirigami has been applied for device fabrication in the microscopic world. However, most nano-kirigami structures and devices were typically fabricated or transformed at fixed positions and restricted to limited mechanical motion along a single axis due to their small sizes, which significantly limits their functionalities and applications. Here, we demonstrate the precise shaping and position control of nano-kirigami microrotors. Metallic microrotors with size of ~10 micrometers were deliberately released from the substrates and readily manipulated through the multimode actuation with controllable speed and direction using an advanced optoelectronic tweezers technique. The underlying mechanisms of versatile interactions between the microrotors and electric field are uncovered by theoretical modeling and systematic analysis. This work reports a novel methodology to fabricate and manipulate micro/nanorotors with well-designed and sophisticated kirigami morphologies, providing new solutions for future advanced optoelectronic micro/nanomachinery.

3D and 4D assembly of functional structures using shape-morphing materials for biological applications

3D structures are crucial to biological function in the human body, driving interest in their in vitro fabrication. Advances in shape-morphing materials allow the assembly of 3D functional materials with the ability to modulate the architecture, flexibility, functionality, and other properties of the final product that suit the desired application. The principles of these techniques correspond to the principles of origami and kirigami, which enable the transformation of planar materials into 3D structures by folding, cutting, and twisting the 2D structure. In these approaches, materials responding to a certain stimulus will be used to manufacture a preliminary structure. Upon applying the stimuli, the architecture changes, which could be considered the fourth dimension in the manufacturing process. Here, we briefly summarize manufacturing techniques, such as lithography and 3D printing, that can be used in fabricating complex structures based on the aforementioned principles. We then discuss the common architectures that have been developed using these methods, which include but are not limited to gripping, rolling, and folding structures. Then, we describe the biomedical applications of these structures, such as sensors, scaffolds, and minimally invasive medical devices. Finally, we discuss challenges and future directions in using shape-morphing materials to develop biomimetic and bioinspired designs.

Inverse Design of Self-Folding 3D Shells

Self-folding is an emerging paradigm for the inverse design of three-dimensional structures. While most efforts have concentrated on the shape of the net, our approach introduces a new design dimension-bond specificity between the edges. We transform this design process into a Boolean satisfiability problem to derive solutions for various target structures. This method significantly enhances the yield of the folding process. Furthermore, by linearly combining independent solutions, we achieve designs for shape-shifting nets wherein the dominant structure evolves with varying external conditions. This approach is demonstrated through coarse-grained simulations on two examples of triangular and square nets capable of folding into multiple target shapes.

Engineering Kirigami Frameworks Toward Real-World Applications

The surge in advanced manufacturing techniques has led to a paradigm shift in the realm of material design from developing completely new chemistry to tailoring geometry within existing materials. Kirigami, evolved from a traditional cultural and artistic craft of cutting and folding, has emerged as a powerful framework that endows simple 2D sheets with unique mechanical, thermal, optical, and acoustic properties, as well as shape-shifting capabilities. Given its flexibility, versatility, and ease of fabrication, there are significant efforts in developing kirigami algorithms to create various architectured materials for a wide range of applications. This review summarizes the fundamental mechanisms that govern the transformation of kirigami structures and elucidates how these mechanisms contribute to their distinctive properties, including high stretchability and adaptability, tunable surface topography, programmable shape morphing, and characteristics of bistability and multistability. It then highlights several promising applications enabled by the unique kirigami designs and concludes with an outlook on the future challenges and perspectives of kirigami-inspired metamaterials toward real-world applications.

Untethered Microgrippers for Precision Medicine

Microgrippers, a branch of micro/nanorobots, refer to motile miniaturized machines that are of a size in the range of several to hundreds of micrometers. Compared with tethered grippers or other microscopic diagnostic and surgical equipment, untethered microgrippers play an indispensable role in biomedical applications because of their characteristics such as miniaturized size, dexterous shape tranformation, and  controllable motion, which enables the microgrippers to enter hard-to-reach regions to execute specific medical tasks for disease diagnosis and treatment. To date, numerous medical microgrippers are developed, and their potential in cell manipulation, targeted drug delivery, biopsy, and minimally invasive surgery  are explored. To achieve controlled locomotion and efficient target-oriented actions, the materials, size, microarchitecture, and morphology of microgrippers shall be deliberately designed. In this review, the authors summarizes the latest progress in untethered micrometer-scale grippers. The working mechanisms of shape-morphing and actuation methods for effective movement are first introduced. Then, the design principle and state-of-the-art fabrication techniques of microgrippers are discussed. Finally, their applications in the precise medicine are highlighted, followed by offering future perspectives for the development of untethered medical microgrippers.

New avenues for residual stress analysis in ultrathin atomic layer deposited free-standing membranes through release of micro-cantilevers

The fabrication of thinnest, yet undeformed membrane structures with nanometer resolution is a prerequisite for a variety of Microelectromechanical systems (MEMS). However, functionally relevant thin films are susceptible to growth-generated stress. To tune the performance and reach large aspect ratios, knowledge of the intrinsic material properties is indispensable. Here, we present a new method for stress evaluation through releasing defined micro-cantilever segments by focused ion beam (FIB) milling from a predefined free-standing membrane structure. Thereby, the cantilever segment is allowed to equilibrate to a stress-released state through measurable strain in the form of a resulting radius of curvature. This radius can be back-calculated to the residual stress state. The method was tested on a 20 nm and 50 nm thick tunnel-like ALD Image 1 membrane structure, revealing a significant amount of residual stress with 866 MPa and 6104 MPa, respectively. Complementary finite element analysis to estimate the stress distribution in the structure showed a 97% and 90% agreement in out-of-plane deflection for the 20 nm and 50 nm membranes, respectively. This work reveals the possibilities of releasing entire membrane segments from thin film membranes with a significant amount of residual stress and to use the resulting bending behavior for evaluating stress and strain by measuring their deformation.

Flexible and Stretchable Light-Emitting Diodes and Photodetectors for Human-Centric Optoelectronics

Optoelectronic devices with unconventional form factors, such as flexible and stretchable light-emitting or photoresponsive devices, are core elements for the next-generation human-centric optoelectronics. For instance, these deformable devices can be utilized as closely fitted wearable sensors to acquire precise biosignals that are subsequently uploaded to the cloud for immediate examination and diagnosis, and also can be used for vision systems for human-interactive robotics. Their inception was propelled by breakthroughs in novel optoelectronic material technologies and device blueprinting methodologies, endowing flexibility and mechanical resilience to conventional rigid optoelectronic devices. This paper reviews the advancements in such soft optoelectronic device technologies, honing in on various materials, manufacturing techniques, and device design strategies. We will first highlight the general approaches for flexible and stretchable device fabrication, including the appropriate material selection for the substrate, electrodes, and insulation layers. We will then focus on the materials for flexible and stretchable light-emitting diodes, their device integration strategies, and representative application examples. Next, we will move on to the materials for flexible and stretchable photodetectors, highlighting the state-of-the-art materials and device fabrication methods, followed by their representative application examples. At the end, a brief summary will be given, and the potential challenges for further development of functional devices will be discussed as a conclusion.

SonoTransformers: Transformable acoustically activated wireless microscale machines

Shape transformation, a key mechanism for organismal survival and adaptation, has gained importance in developing synthetic shape-shifting systems with diverse applications ranging from robotics to bioengineering. However, designing and controlling microscale shape-shifting materials remains a fundamental challenge in various actuation modalities. As materials and structures are scaled down to the microscale, they often exhibit size-dependent characteristics, and the underlying physical mechanisms can be significantly affected or rendered ineffective. Additionally, surface forces such as van der Waals forces and electrostatic forces become dominant at the microscale, resulting in stiction and adhesion between small structures, making them fracture and more difficult to deform. Furthermore, despite various actuation approaches, acoustics have received limited attention despite their potential advantages. Here, we introduce "SonoTransformer," the acoustically activated micromachine that delivers shape transformability using preprogrammed soft hinges with different stiffnesses. When exposed to an acoustic field, these hinges concentrate sound energy through intensified oscillation and provide the necessary force and torque for the transformation of the entire micromachine within milliseconds. We have created machine designs to predetermine the folding state, enabling precise programming and customization of the acoustic transformation. Additionally, we have shown selective shape transformable microrobots by adjusting acoustic power, realizing high degrees of control and functional versatility. Our findings open new research avenues in acoustics, physics, and soft matter, offering new design paradigms and development opportunities in robotics, metamaterials, adaptive optics, flexible electronics, and microtechnology.

Optimal face-to-face coupling for fast self-folding kirigami

Kirigami-inspired designs can enable self-folding three-dimensional materials from flat, two-dimensional sheets. Hierarchical designs of connected levels increase the diversity of possible target structures, yet they can lead to longer folding times in the presence of fluctuations. Here, we study the effect of rotational coupling between levels on the self-folding of two-level kirigami designs driven by thermal noise in a fluid. Naturally present due to hydrodynamic resistance, we find that this coupling parameter can significantly impact a structure's self-folding pathway, thus enabling us to assess the quality of a kirigami design and the possibility for its optimization in terms of its folding rate and yield.

Integrated Sensors for Soft Medical Robotics

Minimally invasive procedures assisted by soft robots for surgery, diagnostics, and drug delivery have unprecedented benefits over traditional solutions from both patient and surgeon perspectives. However, the translation of such technology into commercialization remains challenging. The lack of perception abilities is one of the obstructive factors paramount for a safe, accurate and efficient robot-assisted intervention. Integrating different types of miniature sensors onto robotic end-effectors is a promising trend to compensate for the perceptual deficiencies in soft robots. For example, haptic feedback with force sensors helps surgeons to control the interaction force at the tool-tissue interface, impedance sensing of tissue electrical properties can be used for tumor detection. The last decade has witnessed significant progress in the development of multimodal sensors built on the advancement in engineering, material science and scalable micromachining technologies. This review article provides a snapshot on common types of integrated sensors for soft medical robots. It covers various sensing mechanisms, examples for practical and clinical applications, standard manufacturing processes, as well as insights on emerging engineering routes for the fabrication of novel and high-performing sensing devices.

Enhanced Faraday rotation by a Fano resonance in substrate-free three-dimensional magnetoplasmonic structures

Three-dimensional magnetoplasmonic nanostructures possess more novel and richer optical and magneto-optical (MO) behaviors compared with planar nanostructures, and exhibit attractive potential applications in micro-nano non-reciprocal photonic devices. However, fabrication of three-dimensional magnetoplasmonic nanostructures is difficult using the usual nanofabrication methods. This work constructs three-dimensional substrate-free Au/Co/Au structures prepared using focused ion beam (FIB) technology. In the three-dimensional split-ring structure, with y-polarized light normal incidence, a three-dimensional coupling current is formed between the vertical split-ring and the bottom square hole, which causes excitation of the Fano resonance. The Fano resonance causes a significant enhancement of the local magnetic field, resulting in a larger Faraday rotation (FR). The resonance also brings about a sign reversal of FR, which is related to the direction of the Lorentz force on electrons. Similar effects also exist in the three-dimensional nanopillar structure and the three-dimensional nanoring structure in the simulation results. Due to the high flexibility of FIB machining, the height and shape of the three-dimensional split-ring can be arbitrarily changed, which means the FR intensity and the position of the FR null point are tunable. The designed three-dimensional structures provide a new route to regulate the Faraday effect, and broaden the possibilities for the design and construction of MO devices.

Buckling Metamaterials for Extreme Vibration Damping

Damping mechanical resonances is a formidable challenge in an increasing number of applications. Many passive damping methods rely on using low stiffness, complex mechanical structures or electrical systems, which render them unfeasible in many of these applications. Herein, a new method for passive vibration damping, by allowing buckling of the primary load path in mechanical metamaterials and lattice structures, is introduced, which sets an upper limit for vibration transmission: the transmitted acceleration saturates at a maximum value in both tension and compression, no matter what the input acceleration is. This nonlinear mechanism leads to an extreme damping coefficient tanδ ≈ 0.23 in a metal metamaterial-orders of magnitude larger than the linear damping coefficient of traditional lightweight structural materials. This principle is demonstrated experimentally and numerically in free-standing rubber and metal mechanical metamaterials over a range of accelerations. It is also shown that damping nonlinearities even allow buckling-based vibration damping to work in tension, and that bidirectional buckling can further improve its performance. Buckling metamaterials pave the way toward extreme vibration damping without mass or stiffness penalty, and, as such, could be applicable in a multitude of high-tech applications, including aerospace, vehicles, and sensitive instruments.

Grasping through dynamic weaving with entangled closed loops

Pick-and-place is essential in diverse robotic applications for industries including manufacturing, and assembly. Soft grippers offer a cost-effective, and low-maintenance alternative for secure object grasping without complex sensing and control systems. However, their inherent softness normally limits payload capabilities and robustness to external disturbances, constraining their applications and hindering reliable performance. In this study, we propose a weaving-inspired grasping mechanism that substantially increases payload capacity while maintaining the use of soft and flexible materials. Drawing from weaving principles, we designed a flexible continuum structure featuring multiple closed-loop strips and employing a kirigami-inspired approach to enable the instantaneous and reversible creation of a woven configuration. The mechanical stability of the woven configuration offers exceptional loading capacity, while the softness of the gripper material ensures safe and adaptive interactions with objects. Experimental results show that the 130 g·f gripper can support up to 100 kg·f. Outperforming competitors in similar weight and softness domains, this breakthrough, enabled by the weaving principle, will broaden the scope of gripper applications to previously inaccessible or barely accessible fields, such as agriculture and logistics.

The 3D Controllable Fabrication of Nanomaterials with FIB-SEM Synchronization Technology

Nanomaterials with unique structures and functions have been widely used in the fields of microelectronics, biology, medicine, and aerospace, etc. With advantages of high resolution and multi functions (e.g., milling, deposition, and implantation), focused ion beam (FIB) technology has been widely developed due to urgent demands for the 3D fabrication of nanomaterials in recent years. In this paper, FIB technology is illustrated in detail, including ion optical systems, operating modes, and combining equipment with other systems. Together with the in situ and real-time monitoring of scanning electron microscopy (SEM) imaging, a FIB-SEM synchronization system achieved 3D controllable fabrication from conductive to semiconductive and insulative nanomaterials. The controllable FIB-SEM processing of conductive nanomaterials with a high precision is studied, especially for the FIB-induced deposition (FIBID) 3D nano-patterning and nano-origami. As for semiconductive nanomaterials, the realization of high resolution and controllability is focused on nano-origami and 3D milling with a high aspect ratio. The parameters of FIB-SEM and its working modes are analyzed and optimized to achieve the high aspect ratio fabrication and 3D reconstruction of insulative nanomaterials. Furthermore, the current challenges and future outlooks are prospected for the 3D controllable processing of flexible insulative materials with high resolution.

Recent Advances in Tunable Metasurfaces and Their Application in Optics

Metasurfaces can be opportunely and specifically designed to manipulate electromagnetic wavefronts. In recent years, a large variety of metasurface-based optical devices such as planar lenses, beam deflectors, polarization converters, and so on have been designed and fabricated. Of particular interest are tunable metasurfaces, which allow the modulation of the optical response of a metasurface; for instance, the variation in the focal length of a converging metalens. Response tunability can be achieved through external sources that modify the permittivity of the materials constituting the nanoatoms, the substrate, or both. The modulation sources can be classified into electromagnetic fields, thermal sources, mechanical stressors, and electrical bias. Beside this, we will consider optical modulation and multiple approach tuning strategies. A great variety of tunable materials have been used in metasurface engineering, such as transparent conductive oxides, ferroelectrics, phase change materials, liquid crystals, and semiconductors. The possibility of tuning the optical properties of these metamaterials is very important for several applications spanning from basic optics to applied optics for communications, depth sensing, holographic displays, and biochemical sensors. In this review, we summarize the recent progress on electro-optical magnetic, mechanical, and thermal tuning of metasurfaces actually fabricated and experimentally tested in recent years. At the end of the review, a short section on possible future perspectives and applications is included.

Magnetically Driven Powerless Lighting Device with Kirigami Structured Magneto-Mechanoluminescence Composite

The energy crisis and global shift toward sustainability drive the need for sustainable technologies that utilize often-wasted forms of energy. A multipurpose lighting device with a simplistic design that does not need electricity sources or conversions can be one such futuristic device. This study investigates the novel concept of a powerless lighting device driven by stray magnetic fields induced by power infrastructure for obstruction warning light systems. The device consists of mechanoluminescence (ML) composites of a Kirigami-shaped polydimethylsiloxane (PDMS) elastomer, ZnS:Cu particles, and a magneto-mechano-vibration (MMV) cantilever beam. Finite element analysis and luminescence characterization of the Kirigami structured ML composites are discussed, including the stress-strain distribution map and comparisons between different Kirigami structures based on stretchability and ML characteristic trade-offs. By coupling a Kirigami-structured ML material and an MMV cantilever structure, a device that can generate visible light as luminescence from a magnetic field can be created. Significant factors that contribute to luminescence generation and intensity are identified and optimized. Furthermore, the feasibility of the device is demonstrated by placing it in a practical environment. This further proves the functionality of the device in harvesting weak magnetic fields into luminescence or light, without complicated electrical energy conversion steps.

Paper-folding-based terahertz anti-resonant cavity

Recently, the concept of core-anti-resonant reflection (CARR) has been proposed, greatly expanding the options of cladding materials and morphologies for Fabry-Perot-type (F-P) cavities. For instance, a single-layer tube made of A4 paper can be a precision resonator in the terahertz (THz) band, which seemed counterintuitive before. More importantly, thanks to the involvement of paper-like materials as the cavity plates, it is possible to equip the CARR cavity with the currently popular origami functionality. Following this clue, in this work we combined a simple octagonal paper tube with different origami patterns and realized the programmable adjustment for the distance between two parallel surfaces of the tubular cavity. Accordingly, the combination of the CARR cavity and the origami property offers a new degree of freedom and flexibility to vary the cavity distance, tune the resonant frequency, and explore related applications. For applied examples, we carried out pressure sensing with this foldable structure and achieved a high sensitivity (S = 57.9 kPa^-1). Meanwhile, the origami cavity could also act as a THz polarization converter, and the output polarization state of the cavity mode was easily modulated from the original linear to circular polarizations with different chiralities. In future works, besides the pressure-driven method used here, heat and magnetism, etc., can further be employed to tune the CARR cavity, benefiting from four dimensional (4D) or soft-magneto origami materials as the cavity wall.

Calligraphy and Kirigami/Origami-Inspired All-Paper Touch-Temperature Sensor with Stimulus Discriminability

The use of cost-effective renewable raw materials to develop electronic devices has been strongly demanded for sustainable and biodegradable green electronics. Here, by taking inspiration from the traditional calligraphy and kirigami/origami arts, we show a novel cuttable and foldable all-paper touch-temperature sensors fabricated by simply brushing the carbon black ink onto the cellulose paper followed by a layer-layer lamination strategy. The use of environmentally friendly common commodities in daily life including carbon black ink and cellulose paper as the main component materials of sensors effectively lowers the cost and has positive impacts on the environment and health. The sensors can be freely cut or folded into the targeted shapes and can even reversibly morph between 2D and 3D configurations without affecting device function. Additionally, the sensors show a discrimination capability toward pressure and temperature. Our fabrication strategy provides a promising approach for creating the low-cost eco-friendly sensors with a versatile pattern design and a morphing shape without sacrificing the global structural integrity and device functionality.

Kirigami-Inspired Programmable Soft Magnetoresponsive Actuators with Versatile Morphing Modes

Untethered soft magnetoresponsive actuators (SMRAs), which can realize rapid shape transformation, have attracted widespread attention for their strategic applications in exploration, transportation, and minimally invasive medicine. It remains a challenge to fabricate SMRAs with complicated morphing modes (more than bending and folding), limiting their applications to simple shape-morphing and locomotion. Herein, a method integrating the ancient kirigami art and an advanced mechanical assembly method is proposed, which realizes 2D-to-3D and 3D-to-3D complicated shape-morphing and precise magnetization programming through cut-guided deformation. The kirigami-inspired SMRAs exhibit good robustness after actuating more than 10000 times. An integrated finite element analysis method is developed to quantitatively predict the shape transformation of SMRAs under magnetic actuation. By leveraging this method, a set of 3D curved responsive morphologies with programmed Gaussian curvature are fabricated (e.g., ellipsoid and saddle structures), specifically 3D multilayer structures and face-like shapes with different expressions, which are difficult to realize using previous approaches. Furthermore, a bionic-scaled soft crawling robot with significant obstacle surmounting ability is fabricated using the kirigami-inspired method. The ability of the method to achieve programmable SMRAs with versatile morphing modes may broaden its applications in soft robotics, color-switchable devices, and clinical treatments.

Engineering by Cuts: How Kirigami Principle Enables Unique Mechanical Properties and Functionalities

Kirigami, the ancient art of paper cutting, has evolved into a design and fabrication framework to engineer multi-functional materials and structures at vastly different scales. By slit cutting with carefully designed geometries, desirable mechanical behaviors-such as accurate shape morphing, tunable auxetics, super-stretchability, buckling, and multistability-can be imparted to otherwise inflexible sheet materials. In addition, the kirigami sheet provides a versatile platform for embedding different electronic and responsive components, opening up avenues for building the next generations of metamaterials, sensors, and soft robotics. These promising potentials of kirigami-based engineering have inspired vigorous research activities over the past few years, generating many academic publications. Therefore, this review aims to provide insights into the recent advance in this vibrant field. In particular, this paper offers the first comprehensive survey of unique mechanical properties induced by kirigami cutting, their underlying physical principles, and their corresponding applications. The synergies between design methodologies, mechanics modeling, advanced fabrication, and material science will continue to mature this promising discipline.

Reconfigurable, Reversible, and Redefinable Deformation of GO Based on Quantum-Confined-Superfluidics Effect

Graphene oxide (GO) films with natural "quantum-confined-superfluidics" (QSF) channels for moisture actuation have emerged as a smart material for actuators and soft robots. However, programming the deformation of GO by engineering QSF nanochannels around 1 nm is extremely challenging. Herein, we report the reconfigurable, reversible, and redefinable deformation of GO under moisture actuation by tailoring QSF channels via moisture-assisted strain-induced wrinkling (MSW). The shape fixity ratio of a general GO film can reach ∼84% after the MSW process, and the shape recovery ratio is ∼83% at room temperature under moisture actuation. The flexible shaping and deformation abilites, as well as the self-healing property of GO make it possible to fabricate soft robots using GO. Besides, as a proof-of-concept, passive electronics and soft robots capable of crawling, turning, switching circuit, and automatic somersault are demonstrated. With unique shaping and deformation abilities, GO may bring great implications for future soft robotics.

Modeling Self-Rollable Elastomeric Films for Building Bioinspired Hierarchical 3D Structures

In this work, an innovative model is proposed as a design tool to predict both the inner and outer radii in rolled structures based on polydimethylsiloxane bilayers. The model represents an improvement of Timoshenko's formula taking into account the friction arising from contacts between layers arising from rolling by more than one turn, hence broadening its application field towards materials based on elastomeric bilayers capable of large deformations. The fabricated structures were also provided with surface topographical features that would make them potentially usable in different application scenarios, including cell/tissue engineering ones. The bilayer design parameters were varied, such as the initial strain (from 20 to 60%) and the bilayer thickness (from 373 to 93 µm). The model matched experimental data on the inner and outer radii nicely, especially when a high friction condition was implemented in the model, particularly reducing the error below 2% for the outer diameter while varying the strain. The model outperformed the current literature, where self-penetration is not excluded, and a single value of the radius of spontaneous rolling is used to describe multiple rolls. A complex 3D bioinspired hierarchical elastomeric microstructure made of seven spirals arranged like a hexagon inscribed in a circumference, similar to typical biological architectures (e.g., myofibrils within a sarcolemma), was also developed. In this case also, the model effectively predicted the spirals' features (error smaller than 18%), opening interesting application scenarios in the modeling and fabrication of bioinspired materials.

A Miniature Soft Sensor with Origami-Inspired Self-Folding Parallel Mechanism

Miniature soft sensors are crucial for the perception of soft robots. Although centimeter-scale sensors have been well developed, very few works addressed millimeter-scale, three-dimensional-shaped soft sensors capable of measuring multi-axis forces. In this work, we developed a millimeter-scale (overall size of 6 mm × 11 mm × 11 mm) soft sensor based on liquid metal printing technology and self-folding origami parallel mechanism. The origami design of the sensor enables the soft sensor to be manufactured within the plane and then fold into a three-dimensional shape. Furthermore, the parallel mechanism allows the sensor to rotate along two orthogonal axes. We showed that the soft sensor can be self-folded (took 17 s) using a shape-memory polymer and magnets. The results also showed that the sensor prototype can reach a deformation of up to 20 mm at the tip. The sensor can realize a measurement of external loads in six directions. We also showed that the soft sensor enables underwater sensing with a minimum sensitivity of 20 mm/s water flow. This work may provide a new manufacturing method and insight into future millimeter-scale soft sensors for bio-inspired robots.

High-throughput fabrication of soft magneto-origami machines

Soft magneto-active machines capable of magnetically controllable shape-morphing and locomotion have diverse promising applications such as untethered biomedical robots. However, existing soft magneto-active machines often have simple structures with limited functionalities and do not grant high-throughput production due to the convoluted fabrication technology. Here, we propose a facile fabrication strategy that transforms 2D magnetic sheets into 3D soft magneto-active machines with customized geometries by incorporating origami folding. Based on automated roll-to-roll processing, this approach allows for the high-throughput fabrication of soft magneto-origami machines with a variety of characteristics, including large-magnitude deploying, sequential folding into predesigned shapes, and multivariant actuation modes (e.g., contraction, bending, rotation, and rolling locomotion). We leverage these abilities to demonstrate a few potential applications: an electronic robot capable of on-demand deploying and wireless charging, a mechanical 8-3 encoder, a quadruped robot for cargo-release tasks, and a magneto-origami arts/craft. Our work contributes for the high-throughput fabrication of soft magneto-active machines with multi-functionalities.

Large Curvature Self-Folding Method of a Thick Metal Layer for Hinged Origami/Kirigami Stretchable Electronic Devices

A self-folding method that can fold a thick (~10 μm) metal layer with a large curvature (>1 mm−1) and is resistant to repetitive folding deformation is proposed. Given the successful usage of hinged origami/kirigami structures forms in deployable structures, they show strong potential for application in stretchable electronic devices. There are, however, two key difficulties in applying origami/kirigami methods to stretchable electronic devices. The first is that a thick metal layer used as the conductive layer of electronic devices is too hard for self-folding as it is. Secondly, a thick metal layer breaks on repetitive folding deformation at a large curvature. To overcome these difficulties, this paper proposes a self-folding method using hinges on a thick metal layer by applying a meander structure. Such a structure can be folded at a large curvature even by weak driving forces (such as those produced by self-folding) and has mechanical resistance to repetitive folding deformation due to the local torsional deformation of the meander structure. To verify the method, the large curvature self-folding of thick metal layers and their mechanical resistance to repetitive folding deformation is experimentally demonstrated. In addition, an origami/kirigami hybrid stretchable electronic device with light-emitting diodes (LEDs) is fabricated using a double-tiling structure called the perforated extruded Miura-ori.

Kirigami-Inspired Biodesign for Applications in Healthcare

Mechanically flexible and conformable materials and integrated devices have found diverse applications in personalized healthcare as diagnostics and therapeutics, tissue engineering and regenerative medicine constructs, surgical tools, secure systems, and assistive technologies. In order to impart optimal mechanical properties to the (bio)materials used in these applications, various strategies have been explored-from composites to structural engineering. In recent years, geometric cuts inspired by the art of paper-cutting, referred to as kirigami, have provided innovative opportunities for conferring precise mechanical properties via material removal. Kirigami-based approaches have been used for device design in areas ranging from soft bioelectronics to energy storage. In this review, the principles of kirigami-inspired engineering specifically for biomedical applications are discussed. Factors pertinent to their design, including cut geometry, materials, and fabrication, and the effect these parameters have on their properties and configurations are covered. Examples of kirigami designs in healthcare are presented, such as, various form factors of sensors (on skin, wearable), implantable devices, therapeutics, surgical procedures, and cellular scaffolds for regenerative medicine. Finally, the challenges and future scope for the successful translation of these biodesign concepts to broader deployment are discussed.

Folding and Fracture of Single-Crystal Graphene Grown on a Cu(111) Foil

A single-crystal graphene film grown on a Cu(111) foil by chemical vapor deposition (CVD) has ribbon-like fold structures. These graphene folds are highly oriented and essentially parallel to each other. Cu surface steps underneath the graphene are along the <110> and <211> directions, leading to the formation of the arrays of folds. The folds in the single-layer graphene (SLG) are not continuous but break up into alternating patterns. A "joint" (an AB-stacked bilayer graphene) region connects two neighboring alternating regions, and the breaks are always along zigzag or armchair directions. Folds formed in bilayer or few-layer graphene are continuous with no breaks. Molecular dynamics simulations show that SLG suffers a significantly higher compressive stress compared to bilayer graphene when both are under the same compression, thus leading to the rupture of SLG in these fold regions. The fracture strength of a CVD-grown single-crystal SLG film is simulated to be about 70 GPa. This study greatly deepens the understanding of the mechanics of CVD-grown single-crystal graphene and such folds, and sheds light on the fabrication of various graphene origami/kirigami structures by substrate engineering. Such oriented folds can be used in a variety of further studies.

Suspended Kirigami Surfaces for Multifoulant Adhesion Reduction

High foulant adhesion remains a critical issue in a wide range of industries, such as ice accretion on aircraft, biofoulants on ships, wax build-up within pipelines, and scale formation in water remediation. Previous anti-fouling surfaces have only shown promise for reducing the adhesion of a single foulant system; a multi-foulant anti-fouling technology remains elusive. Here, we introduce a mechanical metamaterial-based approach to develop anti-fouling surfaces applicable to a wide range of fouling substances. The suspended kirigami inverted nil-adhesion surfaces, or SKINS, show significantly reduced adhesion of ice, different waxes, dried mud, pressure-sensitive adhesive tape, and a marine hard foulant simulant. SKINS mimic the wrinkling of hard films adhered to soft substrates. Foulant adhesion can be minimized by this wrinkling, which may be controlled by tuning the kirigami motif, sheet material, and foulant dimensions. SKINS reduce adhesion mechanically and were found to be independent of surface energy, enabling their fabrication from commonplace hydrophilic polymers like cellulose acetate. Optimized SKINS exhibited extremely low foulant adhesion, for example, ice adhesion strengths less than 5 kPa (a >250-fold reduction from aluminum substates), and were found to maintain their performance on curved surfaces like transmission cables. The low foulant adhesion persisted over 30 repeated foulant deposition and removal cycles, demonstrating the anti-fouling durability of SKINS. Overall, SKINS offers a previously unexplored route to achieving low foulant adhesion that is highly tunable in both geometry and material selection, is applicable to many different fouling substances, and maintains extremely low foulant adhesion even on complex substrates over large fouled interfaces.

Materials for Smart Soft Actuator Systems

In contrast to conventional hard actuators, soft actuators offer many vivid advantages, such as improved flexibility, adaptability, and reconfigurability, which are intrinsic to living systems. These properties make them particularly promising for different applications, including soft electronics, surgery, drug delivery, artificial organs, or prosthesis. The additional degree of freedom for soft actuatoric devices can be provided through the use of intelligent materials, which are able to change their structure, macroscopic properties, and shape under the influence of external signals. The use of such intelligent materials allows a substantial reduction of a device's size, which enables a number of applications that cannot be realized by externally powered systems. This review aims to provide an overview of the properties of intelligent synthetic and living/natural materials used for the fabrication of soft robotic devices. We discuss basic physical/chemical properties of the main kinds of materials (elastomers, gels, shape memory polymers and gels, liquid crystalline elastomers, semicrystalline ferroelectric polymers, gels and hydrogels, other swelling polymers, materials with volume change during melting/crystallization, materials with tunable mechanical properties, and living and naturally derived materials), how they are related to actuation and soft robotic application, and effects of micro/macro structures on shape transformation, fabrication methods, and we highlight selected applications.

Soft X-ray Lensless Imaging in Reflection Mode

We report on the development and implementation of methodologies dedicated to soft X-ray imaging by coherent scattering in reflection mode. Two complementary approaches are tested, based on Fourier transform holography and on ptychography. A new method for designing holographic masks has been developed. Our results represent a feasibility test and highlight the potential and limitations of imaging in reflection mode. Reflectivity is less efficient than transmission at soft X-ray wavelengths, hampering the acquisition of good quality images. Nonetheless, it has the potential to image a wider set of samples, notably those that are not transparent to soft X-rays. Although the images obtained so far are of modest quality, these results are extremely encouraging for continuing the development of coherent soft X-ray imaging in reflection mode.

Tailoring the multistability of origami-inspired, buckled magnetic structures via compression and creasing

Origami-inspired multistable structures are gaining increasing interest because of their potential applications in fields ranging from deployable structures to reconfigurable microelectronics. The multistability of such structures is critical for their applications but is challenging to manipulate due to the highly nonlinear deformations and complex configurations of the structures. Here, a comprehensive experimental and computational study is reported to tailor the multistable states of origami-inspired, buckled ferromagnetic structures and their reconfiguration paths. Using ribbon structures as an example, a design phase diagram is constructed as a function of the crease number and compressive strain. As the crease number increases from 0 to 7, the number of distinct stable states first increases and then decreases. The multistability is also shown to be actively tuned by varying the strain from 0% to 40%. Furthermore, analyzing energy barriers for reconfiguration among the stable states reveals dynamic changes in reconfiguration paths with increasing strains. Guided by studies above, diverse examples are designed and demonstrated, from programmable structure arrays to a soft robot. These studies lay out the foundation for the rational design of functional, multistable structures.

On-Body Piezoelectric Energy Harvesters through Innovative Designs and Conformable Structures

Recent advancements in wearable technology have improved lifestyle and medical practices, enabling personalized care ranging from fitness tracking, to real-time health monitoring, to predictive sensing. Wearable devices serve as an interface between humans and technology; however, this integration is far from seamless. These devices face various limitations such as size, biocompatibility, and battery constraints wherein batteries are bulky, are expensive, and require regular replacement. On-body energy harvesting presents a promising alternative to battery power by utilizing the human body's continuous generation of energy. This review paper begins with an investigation of contemporary energy harvesting methods, with a deep focus on piezoelectricity. We then highlight the materials, configurations, and structures of such methods for self-powered devices. Here, we propose a novel combination of thin-film composites, kirigami patterns, and auxetic structures to lay the groundwork for an integrated piezoelectric system to monitor and sense. This approach has the potential to maximize energy output by amplifying the piezoelectric effect and manipulating the strain distribution. As a departure from bulky, rigid device design, we explore compositions and microfabrication processes for conformable energy harvesters. We conclude by discussing the limitations of these harvesters and future directions that expand upon current applications for wearable technology. Further exploration of materials, configurations, and structures introduce interdisciplinary applications for such integrated systems. Considering these factors can revolutionize the production and consumption of energy as wearable technology becomes increasingly prevalent in everyday life.

Mechanomaterials: A Rational Deployment of Forces and Geometries in Programming Functional Materials

The knowledge of mechanics of materials has been extensively implemented in developing functional materials, giving rise to recent advances in soft actuators, flexible electronics, mechanical metamaterials, tunable mechanochromics, regenerative mechanomedicine, etc. While conventional mechanics of materials offers passive access to mechanical properties of materials in existing forms, a paradigm shift is emerging toward proactive programming of materials' functionality by leveraging the force-geometry-property relationships. Here, such a rising field is coined as "mechanomaterials". To profile the concept, the design principles in this field at four scales is first outlined, namely the atomic scale, the molecular scale, the manipulation of nanoscale materials, and the microscale design of structural materials. A variety of techniques have been recruited to deliver the multiscale programming of functional mechanomaterials, such as strain engineering, capillary assembly, topological interlocking, kirigami, origami, to name a few. Engineering optical and biological functionalities have also been achieved by implementing the fundamentals of mechanochemistry and mechanobiology. Nonetheless, the field of mechanomaterials is still in its infancy, with many open challenges and opportunities that need to be addressed. The authors hope this review can serve as a modest spur to attract more researchers to further advance this field.

Etching-Free Ultrafast Fabrication of Self-Rolled Metallic Nanosheets with Controllable Twisting

The rapid development of state-of-the-art nanotechnology is driven by the emerging novel nanofabrication methods, such as self-rolling of 2D materials or nanosheets. Nonetheless, the traditional chemical etching-based "roll-up" technologies suffer from a low fabrication efficiency and generally produce only scroll-like structures. In this work, we develop a versatile, ultrafast, and etching-free method to synthesize self-rolled metallic nanostructures through hydrogel surface buckling enabled exfoliation, which enables rapid exfoliation and self-rolling of metallic nanosheets at a rate about 1 to 2 orders of magnitude faster than other methods. Furthermore, we observe a scroll-helix-scroll transition through the twisting of the self-rolled nanosheets. Through extensive finite element simulations and experiments, we reveal the thermodynamics underpinning these configurational transitions.

Artificial Propeller Chirality and Counterintuitive Reversal of Circular Dichroism in Twisted Meta-molecules

Here we demonstrate an optical propeller chirality in artificially twisted meta-molecules, which is remarkably different from conventional optical helical chirality. Giant circular dichroism (CD) is realized in a single layer of meta-molecule array by utilizing the surface lattice resonances that are formed by the coupling of chiral electric quadrupole modes to the diffractive lattice mode. Due to the special twist of the propeller blades, the periodic meta-molecule array is hybridized by unit cells with two different chiral centers. As a result, the CD response is readily reversed by tailoring the interference phase through engineering the structural blades without inverting the geometric chirality. Importantly, the enhanced CD and its sign reversal are demonstrated in experiments by using a nano-kirigami fabrication technique.

Bioinspired Color Switchable Photonic Crystal Silicone Elastomer Kirigami

Bioinspired dynamic structural color has great potential for use in dynamic displays, sensors, cryptography, and camouflage. However, it is quite rare for artificial structural color devices to withstand thousands of cycles. Male hummingbird's crowns and gorgets are brightly colored, demonstrating frequent color switching that is induced by regulating the orientation of the feathers through movement of skin or joints. Inspired by this unique structural color modulation, we demonstrate a flexible, mechanically triggered color switchable sheet based on a photonic crystal (PhC)-coated polydimethylsiloxane (PDMS) kirigami (PhC-PDMS kirigami) made by laser cutting. Finite element modeling (FEM) simulation reveals that the thickness of PDMS kirigami and the chamfer at the incision induced by laser cutting both dominate the out-of-plane deformation through in-plane stretching. The bioinspired PhC-PDMS kirigami shows precisely programmable structural color and keeps the color very well after recycling over 10 000 times. This bioinspired PhC-PDMS kirigami also shows excellent viewability even in bright sunlight, high readability, robust functionality, technical flexibility, and mechanical durability, which are readily exploitable for applications, such as chromic mechanical monitors for the sports industry or for medical applications, wearable camouflage, and security systems.

A Highly Efficient and Durable Kirigami Triboelectric Nanogenerator for Rotational Energy Harvesting

While sliding-mode triboelectric nanogenerators (S-TENGs) have been considered as one of the most promising devices for rotational energy harvesting, their inherently poor durability has been a serious bottleneck for applications. Herein, we report a three-dimensional kirigami TENG as a highly efficient and durable rotational energy harvesting device. The kirigami TENG consisted of cube-shaped paper, aluminum (Al) foil electrode and polytetrafluoroethylene (PTFE) polymer film, and converted rotational motion into multiple folding-unfolding vibrations. The rotation-folding (R-F) kirigami TENG generated an open-circuit voltage of 31 V, a short-circuit current of 0.67 μA and an instantaneous power (power density) of 1.2 μW (0.13 μW/cm2) at 200 rpm, which was sufficient to turn on 25 light-emitting diodes and a thermo-hygrometer. The triboelectric outputs of the R-F kirigami TENG were only slightly decreased even after 288,000 continuous rotations, i.e., the output remained at 86% of its initial value. This work demonstrates that an R-F kirigami TENG could be a plausible candidate to efficiently harvest various forms of rotational energy with a long-term durability.

Design of a Kirigami Structure with a Large Uniform Deformation Region

We designed a kirigami structure with a particular shape at both ends to provide a large uniform deformation region when stretched. When a kirigami structure is stretched, non-deformation regions, where the regions' cuts do not open, and non-uniform deformation regions, where the regions' cuts are not uniformly deformed, are produced. The extent of the non-deformation and non-uniform deformation regions increases in proportion to the number of cut cycles in the width direction n _w this reduces the percentage of the uniform deformation region. We propose a method that increases the uniform deformation region in a kirigami structure by deforming the shape of the ends from a rectangle to a trapezoid when stretched. The proposed kirigami structure has separation lines at both ends that separate cuts in the width direction, and the position of contacts at both ends are moved to the center. The proposed kirigami structure has a large uniform deformation region, even when n _w is large, as evidenced by calculating the area of open cuts under stretching. The product of our study realizes a stretchable electro device with a large area, which maintains the position of evenly mounted functional elements when stretched.

Focused Ion Beam Processing for 3D Chiral Photonics Nanostructures

The focused ion beam (FIB) is a powerful piece of technology which has enabled scientific and technological advances in the realization and study of micro- and nano-systems in many research areas, such as nanotechnology, material science, and the microelectronic industry. Recently, its applications have been extended to the photonics field, owing to the possibility of developing systems with complex shapes, including 3D chiral shapes. Indeed, micro-/nano-structured elements with precise geometrical features at the nanoscale can be realized by FIB processing, with sizes that can be tailored in order to tune optical responses over a broad spectral region. In this review, we give an overview of recent efforts in this field which have involved FIB processing as a nanofabrication tool for photonics applications. In particular, we focus on FIB-induced deposition and FIB milling, employed to build 3D nanostructures and metasurfaces exhibiting intrinsic chirality. We describe the fabrication strategies present in the literature and the chiro-optical behavior of the developed structures. The achieved results pave the way for the creation of novel and advanced nanophotonic devices for many fields of application, ranging from polarization control to integration in photonic circuits to subwavelength imaging.

Active Surface with Dynamic Microstructures and Hierarchical Gradient Enabled by in situ Pneumatic Control

An active surface with an on-demand tunable topography holds great potential for various applications, such as reconfigurable metasurfaces, adaptive microlenses, soft robots and four-dimensional (4D) printing. Despite extensive progress, to achieve refined control of microscale surface structures with large-amplitude deformation remains a challenge. Moreover, driven by the demand of constructing a large area of microstructures with increased complexity-for instance, biomimetic functional textures bearing a three-dimensional (3D) gradient-novel strategies are highly desired. Here, we develop an active surface with a dynamic topography and three-tier height gradient via a strain-tunable mismatching-bonding process. Pneumatic actuation allows for rapid, reversible and uniform regulation of surface microstructures at the centimeter scale. The in-situ modulation facilitates large-amplitude deformation with a maximum tuning range of 185 μm. Moreover, the structural gradient can be modulated by programming the strain value of the bonding process. With our strategy, another two types of surfaces with a four-tier gradient and without gradient were also prepared. By providing active modulation and design flexibility of complicated microstructures, the proposed strategy would unlock more opportunities for a wealth of novel utilizations.

Chirality Transfer from Sub-Nanometer Biochemical Molecules to Sub-Micrometer Plasmonic Metastructures: Physiochemical Mechanisms, Biosensing, and Bioimaging Opportunities

Determining the structural chirality of biomolecules is of vital importance in bioscience and biomedicine. Conventional methods for characterizing molecular chirality, e.g., circular dichroism (CD) spectroscopy, require high-concentration specimens due to the weak electronic CD signals of biomolecules such as amino acids. Artificially designed chiral plasmonic metastructures exhibit strong intrinsic chirality. However, the significant size mismatch between metastructures and biomolecules makes the former unsuitable for chirality-recognition-based molecular discrimination. Fortunately, constructing metallic architectures through molecular self-assembly allows chirality transfer from sub-nanometer biomolecules to sub-micrometer, intrinsically achiral plasmonic metastructures by means of either near-field interaction or chirality inheritance, resulting in hybrid systems with CD signals orders of magnitude larger than that of pristine biomolecules. This exotic property provides a new means to determine molecular chirality at extremely low concentrations (ideally at the single-molecule level). Herein, three strategies of chirality transfer from sub-nanometer biomolecules to sub-micrometer metallic metastructures are analyzed. The physiochemical mechanisms responsible for chirality transfer are elaborated and new fascinating opportunities for employing plasmonic metastructures in chirality-based biosensing and bioimaging are outlined.

Periodic Microstructures Fabricated by Laser Interference with Subsequent Etching

Periodic nanostructures have wide applications in micro-optics, bionics, and optoelectronics. Here, a laser interference with subsequent etching technology is proposed to fabricate uniform periodic nanostructures with controllable morphologies and smooth surfaces on hard materials. One-dimensional microgratings with controllable periods (1, 2, and 3 μm) and heights, from dozens to hundreds of nanometers, and high surface smoothness are realized on GaAs by the method. The surface roughness of the periodic microstructures is significantly reduced from 120 nm to 40 nm with a subsequent inductively coupled plasma (ICP) etching. By using laser interference with angle-multiplexed exposures, two-dimensional square- and hexagonal-patterned microstructures are realized on the surface of GaAs. Compared with samples without etching, the diffraction efficiency can be significantly enhanced for samples with dry etching, due to the improvement of surface quality.