Origami structures have been an active area of research due to their high volume-to-mass ratio, packability, and shape adaptability. Previously-developed actuated foldable structures have either embedded linear actuators into the structure, or have attached non-folding rotary motors to the exterior structure. Further, in prior work, actuators directly embedded in the structure of folding media all contributed to linear or folding motion, not to continuous rotary motion. On the macro-scale there has not yet been a folding continuous rotary actuator. This paper details the development and testing of the first macro-scale origami rotary motor that can be folded flat, and then unfurled to operate. Using corona discharge for torque production, the prototype motor achieved an expansion ratio of over 3.8:1, reached a top speed of 1720 rpm when driven at -30 kV, and exhibited a maximum motor torque over 0.25 mNm with an active component torque density of 0.11 Nm/kg.

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