The first hemispherical resonator gyroscope (HRG), inspired to wineglasses, was 300V biased, 5cm diameter and hand-assembled. In the 70-80s it was employed for navigation grade applications: outstanding performances.
From that moment, a rush for high-precision inertial sensors started. Instead of using the mechanical vibration of the wineglass for measuring rotation angles, why not using a vibrating mass? And how about having a micrometric device with small power consumption? MEMS whole angle gyroscopes saw the light and started to be intensively studied.
At the same time the development of glass blowing technology is giving birth to microscale spherical shell resonators, the smart young brothers of the first HRGs.
Millimetric in-plane MEMS devices demonstrated high quality factors and resolution: they just need to be 90 deg tilted for measuring XY rotations. Maybe a folded MEMS is what we are looking for: easy like building... an origami!

Federico Giacci received the M.S. degree in electronics engineering from Politecnico di Milano, Italy, in 2012, with a thesis about design of MEMS gyroscopes with nanostructured  piezoresistive sensing elements.
He got the Ph.D. degree at Politecnico di Milano (2016) with a thesis on the design of characterization and operation electronics for capacitive and piezoresistive MEMS gyroscopes.
He is currently a post-doc researcher at University of California - Irvine (UCI), working on MEMS gyroscopes for military applications.