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Modular origami joint operator to create bendable motions with multiple radii 147

tracheostomy procedure, a set of criteria is constructed based on the results of
benchmarking and other regulatory issues involved.

Since tracheostomy is an invasive procedure, considerations to its safety level must be
highly regarded to prevent the immune response from the user after MOJO has been
inserted into the body. As such, the materials used for MOJO must be biocompatible,
nontoxic, nonbiodegradable, and wear resistant. Besides biocompatibility issues, we should
also consider other factors affecting the safety level of the MOJO device. For instance,
MOJO devices, including the drilling wire, hinges, and tendons, must be able to withstand
high tensile force without breakage. In the case of breakage, it can cause part of the device
to be trapped in the subject’s body, compromising the safety and comfort level of the user.
Hence there is a need for careful material selection to ensure safety.

Acknowledgment

This work was in part supported by the National Key Research and Development Program, The Ministry of
Science and Technology (MOST) of China (No. 2018YFB1307703).

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