Here we demonstrated how the ancient art of paper cutting can be used to inspire interesting soft actuator designs for a range of soft robotics capabilities from gripper and manipulator applications, to crawling and flipping robots.

KirigamiInspired 3D Printable Soft Pneumatic Actuators with Multiple Deformation Modes for Soft Robotic Applications.
Published in Soft Robotics 2023
http://doi.org/10.1089/soro.2021.0199