Origami hand for soft robotics driven by thermally controlled polymeric fiber actuators

Abstract Active fibers can serve as artificial muscles in robotics or components of smart textiles. Here, we present an origami hand robot, where single control the reversible movement fingers. A recovery/contracting force 0.2 N with a work capacity 0.175 kJ kg ?1 was observed crosslinked poly[ethylene- co -(vinyl acetate)] (cPEVA) fibers, which could enable bending fingers by contraction upon heating. The opening attributed to combination elastic recovery structure and crystallization-induced elongation cooling. Graphic abstract