In this study, cooperative healthcare sensing robots that closely monitor and evaluate the patients' muscle functions through gait analysis and electromyography (EMG) are developed. By integrating the biological sensors, the sensing robot can recognize the vital signs. The sensing robots are developed by the design and optimization of their architectures and materials using a green strategy. To achieve mechanically durable robot designs, 3D origami structures are used with specific optimum criteria. Different sensing robot applications are created through the 3D origami insole and humanoid hands for healthcare monitoring. The smart insole built with 3D origami monitors the foot pressure distribution for gait analysis of patients, and the humanoid hand equipped with the 3D origami‐structured EMG fingers cooperatively detects EMG signals. Such cooperative sensing robots hold considerable promise for healthcare monitoring with convenience for patients with quality of care, because the robots can derive empathetic adaptability with humans.
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