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Mechanical waves that travel without inertia are often encountered in nature -- e.g. motion of plants -- yet such waves remain rare in synthetic materials. Here, we discover the emergence of slow kinks in overdamped metamaterials and we…
Handling object deformations for robotic grasping is still a major problem to solve. In this paper, we propose an efficient learning-free solution for this problem where generated grasp hypotheses of a region of an object are adapted to its…
Folding mechanisms are zero elastic energy motions essential to the deployment of origami, linkages, reconfigurable metamaterials and robotic structures. In this paper, we determine the fate of folding mechanisms when such structures are…
This study examines a biology-inspired approach of using reconfigurable articulation to reduce the control requirement for soft robotic arms. We construct a robotic arm by assembling Kresling origami modules that exhibit predictable…
Vertically vibrated rod-shaped granular materials confined to quasi-2D containers self organize into distinct patterns. We find, consistent with theory and simulation, a density dependent isotropic-nematic transition. Along the walls, rods…
The challenge in reconfigurable manipulation of sound waves using metasurfaces lies in achieving precise control over acoustic behavior while developing efficient and practical tuning methods for structural configurations. However, most…
Rigidly and flat-foldable quadrilateral mesh origami is the class of quadrilateral mesh crease patterns with one fundamental property: the patterns can be folded from flat to fully-folded flat by a continuous one-parameter family of…
The geometric, aesthetic, and mathematical elegance of origami is being recognized as a powerful pathway to self-assembly of micro and nano-scale machines with programmable mechanical properties. The typical approach to designing the…
Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…
Previous work indicates that tropical forest can exist as an alternative stable state to savanna. Therefore, perturbation by climate change or human impact may lead to crossing of a tipping point beyond which there is rapid forest dieback…
Recently, inflatable elements integrated in robotics systems have enabled complex motions as a result of simple inputs. However, these fluidic actuators typically exhibit unimodal deformation upon inflation. Here, we present a new design…
Origami has recently received significant interest from the scientific community as a building block for constructing metamaterials. However, the primary focus has been placed on their kinematic applications, such as deployable space…
The recent development of modular origami structures has ushered in a new era for active metamaterials with multiple degrees of freedom (multi-DOF). Notably, no systematic inverse design approach for volumetric modular origami structures…
Rigid foldability allows an origami pattern to fold about crease lines without twisting or stretching component panels. It enables folding of rigid materials, facilitating the design of foldable structures. Recent study shows that rigid…
Origami crease patterns are folding paths that transform flat sheets into spatial objects. Origami patterns with a single degree of freedom (DOF) have creases that fold simultaneously. More often, several substeps are required to…
Origami structures enabled by folding and unfolding can create complex 3D shapes. However, even a small 3D shape can have large 2D unfoldings. The huge initial dimension of the 2D flattened structure makes fabrication difficult, and defeats…
The principles of origami design have proven useful in a number of technological applications. Origami tessellations in particular constitute a class of morphing metamaterials with unusual geometric and elastic properties. Although…
Soft robots employing compliant materials and deformable structures offer great potential for wearable devices that are comfortable and safe for human interaction. However, achieving both structural integrity and compliance for comfort…
We characterize the phase-space of all Helical Miura Origami. These structures are obtained by taking a partially folded Miura parallelogram as the unit cell, applying a generic helical or rod group to the cell, and characterizing all the…
Robust grasping represents an essential task in robotics, necessitating tactile feedback and reactive grasping adjustments for robust grasping of objects. Previous research has extensively combined tactile sensing with grasping, primarily…