摘要：SummaryOwing to the innate good biocompatibility, tissue-like softness and other unique properties, hydrogels are of particular interest as promising compliant materials for biomimetic soft actuators. However, the actuation diversity of hydrogel actuators is always restricted by their structure design and fabrication methods. Herein, origami structures were introduced to the design of fluid-driven hydrogel actuators to achieve diverse actuation movements, and a facile fabrication strategy based on removable templates and inside-out diffusion-inducedin situhydrogel crosslinking was adopted. As a result, three types of modular cuboid actuator units (CAUs) achieved linear motion, bending, and twisting. Moreover, combinations of multiple CAUs achieved different actuation modes, including actuation decoupling, superposition, and reprogramming. The diverse actuation functionality would enable new possibilities in application fields for hydrogel soft actuators. Several simple application demos, such as grippers for grasping tasks and a multi-way circuit switch, demonstrated their potential for further applications.Graphical abstractDisplay OmittedHighlights•Origami structures were introduced to fluid-driven hydrogel actuators•Three types of cuboid actuator units (CAUs) achieved linear motion, bending, and twisting•A fabrication strategy was based on removable templates andin situformation•Combinations of multiple CAUs achieved different actuation modesBiomimetics; Robotics; Polymers
