Deployability, multifunctionality, and tunability are features that can be explored in the design space of origami engineering solutions. These features arise from the shape-changing capabilities of origami assemblies, which require effective actuation for full functionality. Current actuation strategies rely on either slow or tethered or bulky actuators (or a combination). To broaden applications of origami designs, we introduce an origami system with magnetic control. We couple the geometrical and mechanical properties of the bistable Kresling pattern with a magnetically responsive material to achieve untethered and local/distributed actuation with controllable speed, which can be as fast as a tenth of a second with instantaneous shape locking. We show how this strategy facilitates multimodal actuation of the multicell assemblies, in which any unit cell can be independently folded and deployed, allowing for on-the-fly programmability. In addition, we demonstrate how the Kresling assembly can serve as a basis for tunable physical properties and for digital computing. The magnetic origami systems are applicable to origami-inspired robots, morphing structures and devices, metamaterials, and multifunctional devices with multiphysics responses.

可部署性、多功能性和可调节性是可以在折纸工程解决方案的设计空间中探索的功能。这些功能源于折纸组件的形状变化能力，需要有效的驱动才能实现全部功能。当前的致动策略依赖于缓慢的、系留的或笨重的致动器（或组合）。为了扩大折纸设计的应用，我们引入了具有磁力控制的折纸系统。我们将双稳态 Kresling 图案的几何和机械特性与磁响应材料结合起来，以可控速度实现不受束缚的局部/分布式驱动，速度可快至十分之一秒，并具有瞬时形状锁定。我们展示了这种策略如何促进多单元组件的多模式驱动，其中任何单元单元都可以独立折叠和部署，从而实现动态可编程性。此外，我们还演示了 Kresling 组件如何作为可调节物理属性和数字计算的基础。磁性折纸系统适用于折纸机器人、变形结构和设备、超材料以及具有多物理场响应的多功能设备。