A Perspective of Self-Folding Paper Technologies for Origami-Based Functional Devices

This paper reviews self-folding paper technologies that enable the creation of low-cost, biodegradable paper mechatronics. Starting from static origami structures such as honeycomb and corrugated forms, the research expanded to bistable grippers, stretchable sensors, triboelectric nanogenerators, and electrostatic adhesive actuators. Functional integration allowed sensing, actuation, and power generation within one printed structure. Finally, a portable multimaterial printer based on electrowetting on dielectric (EWOD) was developed for on-site fabrication. These approaches demonstrate a sustainable and accessible paradigm in which users can design and print personalized paper devices directly in the field.