Multistable thin-shell metastructures for multiresponsive reconfigurable metabots

Abstract

Multistable metastructures can switch between multiple stable configurations without requiring locking forces. However, their potential for creating reconfigurable robots-metabots-capable of adapting to changing environments remains largely unexplored. Here, we report harnessing developable surface-based multistable thin-shell metastructures with high reconfigurability for adaptive manipulation and locomotion. These multistable metastructures are constructed by cutting and bonding thin polymer sheets with patterned cutouts, enabling programmable prestored elastic energy. A single unit achieves up to 20 stable configurations, while a four-unit assembly yields 256 reconfigured states, through simple folding of dynamic virtual creases. When integrated with thin sheet-based, multiresponsive soft actuators, these metastructures become highly adaptive metabots, including universal, noninvasive bistable soft grippers; magnetic multigait jumpers; and dual-responsive crawlers powered by magnetic and electroactive actuation. These systems exhibit high adaptability and maneuverability, capable of navigating complex terrains and confined environments via on-demand shape transformations, paving the way for energy-efficient, reconfigurable soft robotic platforms.