Versatile Rigid-Flexible Coupling Modules: Enhancing Soft Origami Structures with Cable-Driven Parallel Mechanisms. - Ji Wang; Hao Yang; Jie Zhang 099; Houde Liu; Yanbin Zhong; Yunge Hu; Yanbo Liu; Chongkun Xia; Jianing Wu (Adv. Intell. Syst., 2025)