Before revision:  In this work, we introduce a rapid multi-physics simulation framework for electro-thermal origami robotic systems that can  capture: thermo-mechancially coupled actuation, inter panel contact, heat transfer, large deformation folding, and other complex loading applied onto the origami.
After revision:  In this work, we introduce a rapid multi-physics simulation framework for electro-thermal origami robotic systems that can simultaneously capture: thermo-mechancially coupled actuation, inter panel contact, heat transfer, large deformation folding, and other complex loading applied onto the origami.