Geometrically multifunctional structures inspired by nature can address the challenges in the development of soft robotics. A bioinspired structure based on origami and kirigami can significantly enhance the stretchability and reliability of soft robots. This study proposes a novel structure with individual, overlapping units, similar to snake scales that can be used to construct shape-morphing batteries for untethered soft robots. The structure is created by folding well-defined, two-dimensional patterns with cutouts. The folding lines mimic the hinge structure of snakeskin, enabling stable deformations without mechanical damage to rigid cells. The structure realizes multi-axial deformability and a zero Poisson's ratio without off-axis distortion to the loading axis. Moreover, to maximize areal density, the optimal cell shape is designed as a hexagon. The structure is applied to a stretchable Li-ion battery, constructed to form an arrangement of electrically interconnected, hexagonal pouch cells. In situ electrochemical characterization and numerical simulation confirm that the shape-morphing scale battery maintains its performance under dynamic deformation with a 90% stretching ratio and 10-mm-radius bending curve, guaranteeing a long-lasting charging/discharging cycle life during cyclic bending and stretching (exceeding 36,000 cycles). Finally, the shape-morphing energy storage device is applied to movable robots, mimicking crawling and slithering, to demonstrate excellent conformability and deformability.
Keywords: scale structure; shape-morphing; soft robotics; stretchable Li-ion battery; stretchable electronics.