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Due to structural resistance of Kresling units and the repulsive forces between the magnetic plates, each unit expands slightly from the flat-folded state, leading to distributed magnetizations, as shown by the side view in Fig. One fascinating feature of octopus arms is the controllable stretching and bending, which allow for a tunable bending point to reach out Methylphenidate Hydrochloride Extended-Release Capsules (Ritalin LA)- Multum interact with the prey, as shown in Fig.

Our 12-unit robotic arm can achieve controllable deployment with integrated bending to mimic the motion of the octopus arm. During the stretching motion, the units can be deployed sequentially from left to right under a counterclockwise rotating magnetic roche posay primer parallel to the fixed end (YZ plane).

The robotic arm can contract back to the folded state under a clockwise rotating magnetic field. Due to the unevenly distributed magnetizations at the deployed state (SI Appendix, Fig. S14), the contraction process of the units is not sequential. Its contracting speed is approximately the same as the stretching speed (SI Appendix, Fig. Octopus-like robotic arm with stretching, bending, and twisting motions. The bending behavior of the robotic arm can be easily coupled with a select number of deployed units (zero units, four units, and eight units in Fig.

In this way, the overall length and stiffness of the bent arm is tunable. More interestingly, 3D out-of-plane shape reconfiguration Methylphenidate Hydrochloride Extended-Release Capsules (Ritalin LA)- Multum the robotic arm can be achieved through integrated bending and twisting motion under programmed magnetic fields.

When applying a counterclockwise rotating magnetic field in the XY plane starting along the negative X direction, the arm first bends in the XY plane and then twists out of plane while interacting with the ground (Fig. By changing the magnetic field to a clockwise rotating magnetic field in the YZ plane starting along the negative Y direction, the arm first slightly contracts and then buckles out of the XY plane with three bending axes, as shown in Fig.

The morphology of twisting can be determined by the time-dependent B field. Kresling robotic arms have demonstrated the capability of realizing multimodal deformation under well-regulated magnetic control. By designing the magnetization distribution of the multiunit robotic arm, more interesting, highly integrated motions can be achieved.

The 18 out-of-plane magnetizations are designed with alternating directions for every six units, as illustrated in Fig. An octopus wiggles its arms to different curled shapes to circumvent obstacles, reach out, and get the prey (Fig.

To mimic the wavy motion in Fig. Following by rotating the magnetic field in Methylphenidate Hydrochloride Extended-Release Capsules (Ritalin LA)- Multum YZ plane, the 18-unit arm realizes dynamic omnidirectional bending (Movie S6).

The curled octopus-arm configuration in Fig. As demonstrated in Fig. Then, the applied magnetic field Methylphenidate Hydrochloride Extended-Release Capsules (Ritalin LA)- Multum programmed to rotate about the X axis to lift the object in another 4 s (Movie S6). By means of synergistically designed Kresling origami assemblies and magnetic controls, several robotic arm designs are demonstrated with integrated deformations of folding, stretching, omnidirectional bending, and twisting.

The magnetic actuation allows untethered and ultrafast on-demand control of the robotic arm and, in the meantime, makes small-scale devices possible (SI Appendix, Fig. The omnidirectional bending prostate massage integrated motions of demonstrated small-scale robotic arms (SI Appendix, Figs.

Kresling units are fabricated from designed Kresling patterns (SI Appendix, Fig. S1) using Tant origami paper (0. A magnetic plate with designed magnetization is attached to the Kresling unit. Multiple units with specific geometries, materials, and magnetizations are assembled into different robotic arm designs based on applications. More details are provided in SI Appendix. Yue Sun for her generous help on Kresling fabrication and Mr.

Tuo Zhao for insightful discussions that improved the manuscript. Skip to main content Main menu Home ArticlesCurrent Special Feature Articles - Most Recent Special Features Methylphenidate Hydrochloride Extended-Release Capsules (Ritalin LA)- Multum Collected Articles PNAS Classics List of Issues PNAS Nexus Front MatterFront Matter Portal Journal Club NewsFor the Press This Week In PNAS PNAS in the News Podcasts AuthorsInformation for Authors Editorial and Journal Policies Submission Procedures Fees and Licenses Submit Submit AboutEditorial Board PNAS Staff FAQ Accessibility Statement Rights and Permissions Site Map Contact Journal Club SubscribeSubscription Rates Subscriptions FAQ Open Access Recommend PNAS to Your Librarian User menu Log in Log out My Cart Search Search for this keyword Advanced search Log in Log out My Cart Search for this keyword Advanced Search Home Methylphenidate Hydrochloride Extended-Release Capsules (Ritalin LA)- Multum Special Feature Articles - Most Recent Special Features Colloquia Collected Articles PNAS Classics List of Issues PNAS Nexus Front MatterFront Matter Portal Journal Club NewsFor the Press This Week In PNAS PNAS in the News Podcasts AuthorsInformation for Authors Editorial and Journal Policies Submission Procedures Fees and Licenses Submit Research Article View ORCID ProfileShuai Wu, View ORCID ProfileQiji Ze, Jize Dai, Nupur Udipi, View ORCID ProfileGlaucio H.

AbstractInspired by the embodied intelligence observed in octopus arms, we introduce magnetically controlled origami robotic arms based on Methylphenidate Hydrochloride Extended-Release Capsules (Ritalin LA)- Multum patterns for multimodal deformations, including stretching, folding, omnidirectional bending, and twisting.

Results and DiscussionMultimodal Deformation of Kresling Unit under Magnetic Actuation. Integrated Motion of Omnidirectional Bending and Lamp2. Omnidirectional Bending and Deploying of a Four-Unit Kresling Robotic Arm. Materials and MethodsKresling units are fabricated from designed Kresling patterns (SI Appendix, Fig.

Hochner, Control of octopus arm extension by a peripheral motor program. Tolley, Design, fabrication and control of origami robots. OpenUrlFREE Full Text Z. Camci-Unal, Origami-inspired approaches for biomedical applications. Autonomous deployment of a solar panel using elastic origami and distributed shape-memory-polymer actuators. Paulino, Continuous-range tunable multilayer frequency-selective surfaces using origami and inkjet printing.

Wood, Fluid-driven origami-inspired artificial muscles. Yang, Origami-based tunable truss structures for exercises at home mechanical memory operation.

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