{"id":"https://openalex.org/W2037016344","doi":"https://doi.org/10.1109/coase.2014.6899484","title":"Mechanically programmed self-folding at the millimeter scale","display_name":"Mechanically programmed self-folding at the millimeter scale","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W2037016344","doi":"https://doi.org/10.1109/coase.2014.6899484","mag":"2037016344"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2014.6899484","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2014.6899484","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050229440","display_name":"Samuel M. Felton","orcid":"https://orcid.org/0000-0002-0545-9617"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Samuel M. Felton","raw_affiliation_strings":["Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA","School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA","institution_ids":[]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056621190","display_name":"Michael T. Tolley","orcid":"https://orcid.org/0000-0001-7821-7777"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael T. Tolley","raw_affiliation_strings":["Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA","School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA","institution_ids":[]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068613839","display_name":"Robert J. Wood","orcid":"https://orcid.org/0000-0001-7969-038X"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Wood","raw_affiliation_strings":["Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA","School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA","institution_ids":[]},{"raw_affiliation_string":"School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138 (USA)","institution_ids":["https://openalex.org/I136199984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I136199984"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"1232","last_page":"1237"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10338","display_name":"Advanced Sensor and Energy Harvesting Materials","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/folding","display_name":"Folding (DSP implementation)","score":0.7814189195632935},{"id":"https://openalex.org/keywords/fabrication","display_name":"Fabrication","score":0.6908742189407349},{"id":"https://openalex.org/keywords/microelectromechanical-systems","display_name":"Microelectromechanical systems","score":0.6273093223571777},{"id":"https://openalex.org/keywords/millimeter","display_name":"Millimeter","score":0.605655312538147},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5061337351799011},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.46415624022483826},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41826245188713074},{"id":"https://openalex.org/keywords/nanotechnology","display_name":"Nanotechnology","score":0.3965822458267212},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3239978551864624},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18869802355766296},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10318288207054138},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07755529880523682},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.06453922390937805}],"concepts":[{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.7814189195632935},{"id":"https://openalex.org/C136525101","wikidata":"https://www.wikidata.org/wiki/Q5428139","display_name":"Fabrication","level":3,"score":0.6908742189407349},{"id":"https://openalex.org/C37977207","wikidata":"https://www.wikidata.org/wiki/Q175561","display_name":"Microelectromechanical systems","level":2,"score":0.6273093223571777},{"id":"https://openalex.org/C109792285","wikidata":"https://www.wikidata.org/wiki/Q174789","display_name":"Millimeter","level":2,"score":0.605655312538147},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5061337351799011},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.46415624022483826},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41826245188713074},{"id":"https://openalex.org/C171250308","wikidata":"https://www.wikidata.org/wiki/Q11468","display_name":"Nanotechnology","level":1,"score":0.3965822458267212},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3239978551864624},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18869802355766296},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10318288207054138},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07755529880523682},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.06453922390937805},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/coase.2014.6899484","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2014.6899484","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.649.8336","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.649.8336","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://micro.seas.harvard.edu/papers/CASE14_Felton.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320333566","display_name":"National Defense Science and Engineering Graduate","ror":null},{"id":"https://openalex.org/F4320337395","display_name":"Division of Emerging Frontiers in Research and Innovation","ror":"https://ror.org/0388pet74"},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W203509190","https://openalex.org/W1590489289","https://openalex.org/W1967677915","https://openalex.org/W1980587781","https://openalex.org/W1991593444","https://openalex.org/W1994576918","https://openalex.org/W2012299141","https://openalex.org/W2014247633","https://openalex.org/W2038002471","https://openalex.org/W2041719738","https://openalex.org/W2072629985","https://openalex.org/W2083210590","https://openalex.org/W2086363266","https://openalex.org/W2105696203","https://openalex.org/W2118374506","https://openalex.org/W2118396584","https://openalex.org/W2120605830","https://openalex.org/W2123741193","https://openalex.org/W2127694416","https://openalex.org/W2130043480","https://openalex.org/W2131063824","https://openalex.org/W2140316998","https://openalex.org/W2145177275","https://openalex.org/W2152372923","https://openalex.org/W2189227901","https://openalex.org/W2196668152","https://openalex.org/W3021728230","https://openalex.org/W3022351019","https://openalex.org/W3102476478","https://openalex.org/W4244569713","https://openalex.org/W6635163990","https://openalex.org/W6687348021"],"related_works":["https://openalex.org/W2272290532","https://openalex.org/W2082914599","https://openalex.org/W2756570351","https://openalex.org/W2120483398","https://openalex.org/W2391127530","https://openalex.org/W2132500134","https://openalex.org/W2606427896","https://openalex.org/W4211139140","https://openalex.org/W2007805353","https://openalex.org/W2771371168"],"abstract_inverted_index":{"Self-folding":[0],"enables":[1],"the":[2,41,48,53,71,98,108,149],"fabrication":[3,159],"of":[4,67,85,117],"sophisticated":[5],"shapes":[6,130],"from":[7,121],"planar":[8],"materials":[9],"without":[10],"manual":[11],"assembly.":[12],"This":[13],"capability":[14],"is":[15,23,83,94,104,115],"valuable":[16],"at":[17,70],"millimeter":[18,72],"scales,":[19],"where":[20],"traditional":[21],"manufacturing":[22,54],"difficult":[24],"and":[25,27,56,89,102,126,131,141],"expensive,":[26],"MEMS":[28,158],"techniques":[29,63,160],"are":[30,64],"not":[31,65],"well-suited":[32],"to":[33,50,123,154,161],"3-D":[34],"features":[35],"with":[36,135,157],"high":[37],"aspect":[38],"ratios.":[39],"Automating":[40],"assembly":[42],"process":[43],"through":[44],"self-folding":[45,62,80,92,137,152],"also":[46],"has":[47],"potential":[49,150],"speed":[51],"up":[52],"time":[55],"reduce":[57],"labor":[58],"costs.":[59],"However,":[60],"existing":[61],"capable":[66,84,116],"complex":[68,86,163],"geometries":[69],"scale.":[73],"In":[74],"this":[75,113,134],"paper":[76],"we":[77],"present":[78],"a":[79,139,142],"composite":[81,99],"that":[82,112],"sub-centimeter":[87],"structures":[88],"mechanisms.":[90],"The":[91],"pattern":[93],"mechanically":[95],"programmed":[96],"into":[97],"during":[100],"fabrication,":[101],"folding":[103],"activated":[105],"by":[106],"heating":[107],"composite.":[109],"We":[110],"show":[111],"technique":[114],"feature":[118],"sizes":[119],"ranging":[120],"1":[122],"20":[124],"mm,":[125],"can":[127],"create":[128],"both":[129],"mechanisms.We":[132],"demonstrate":[133,148],"two":[136],"pieces:":[138],"cube":[140],"spherical":[143],"five-bar":[144],"linkage.":[145],"These":[146],"results":[147],"for":[151],"systems":[153],"be":[155],"integrated":[156],"produce":[162],"devices.":[164]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
