Magnetically Actuated Origami Robots with Multimodal Self‐Powered Sensing Enabled by Dual‐Mode Triboelectric Nanogenerators

ABSTRACT Origami robots, known for their programmable deformation and lightweight architectures, hold significant potential for applications in confined environments. However, their advancement has been hindered by dependence on external power sources and poor integration of perception capabilities. Here, we present a magnetically actuated origami robot that achieves synergistic integration of actuation, energy harvesting, and self‐powered sensing within a single origami magic cube (OMC) structure. Inspired by the electrocyte arrays of electric eels and the orthogonal weaving of bamboo, the robot is constructed by orthogonally stacking programmable origami strips into a 3D metastructure. Magnetic drive units enable wireless multimodal actuation for deformation and locomotion. The dual‐mode triboelectric nanogenerator (TENG) design provides self‐powered capabilities. In contact‐separation mode, it achieves stable power generation and proprioceptive motion sensing, verified by an inchworm‐inspired robot whose telescopic step frequency and count under magnetic actuation are real‐time monitored via triboelectric signals. In single‐electrode mode, it enables accurate spatial pressure discrimination, demonstrated by a spider‐inspired robot for omnidirectional bending and directional monitoring via multi‐channel voltage mapping. This work realizes the integration of magnetic actuation, energy conversion, and multidimensional sensing in a unified origami platform, offering a promising route for intelligent soft robots in enclosed constrained environments.