Recent advances in soft-matter artificial muscles enable machines, especially robots, to reproduce muscle-like actuation of biological organisms, yet there remain substantial and persistent challenges to develop advanced artificial muscles capable of mimicking flexible, controllable, and versatile biological motions. Here, we introduce re-foldable origami strategy into artificial muscles that can use different pre-programmed crease patterns to achieve multimode morphing. Re-foldable square-twist artificial muscles derived from re-foldable square-twist origami is demonstrated, where different twisting directions of re-foldable square-twist artificial muscles are induced through differences in torsional resistance resulting from applying vacuum power on two chambers in sequence. Re-foldable squire-twist artificial muscles can exhibit a complex compound motion coupling twisting, bending, and contraction motions into one, allowing them to flexibly and vividly mimic versatile biological motions by a single muscle or multimuscle combination (like “building bricks”), including hand grasping, bicep stretching, and the bidirectional twisting of the neck, wrist, or ankle.

软物质人造肌肉的最新进展使机器（尤其是机器人）能够再现生物体的类似肌肉的动作，然而，开发能够模仿灵活，可控和通用的生物运动的先进人造肌肉仍然存在着巨大而持续的挑战。在这里，我们将可折叠折纸策略引入人造肌肉，可以使用不同的预编程折痕模式来实现多模式变形。演示了源自可折叠方扭曲折纸的可折叠方扭曲人工肌肉，其中通过依次在两个腔室上施加真空力而产生的扭转阻力差异，引起了可折叠方扭曲人工肌肉的不同扭曲方向。 。