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The simulation of multi-body systems with frictional contacts is a fundamental tool for many fields, such as robotics, computer graphics, and mechanics. Hard frictional contacts are particularly troublesome to simulate because they make the…
The control and task automation of robotic surgical system is very challenging, especially in soft tissue manipulation, due to the unpredictable deformations. Thus, an accurate simulator of soft tissues with the ability of interacting with…
Soft robotic grippers gently and safely manipulate delicate objects due to their inherent adaptability and softness. Limited by insufficient stiffness and imprecise force control, conventional soft grippers are not suitable for applications…
The use of origami in engineering has significantly expanded in recent years, spanning deployable structures across scales, folding robotics, and mechanical metamaterials. However, finding foldable paths can be a formidable task as the…
Kirigami, the traditional paper-cutting craft, holds immense potential for revolutionizing robotics by providing multifunctional, lightweight, and adaptable solutions. Kirigami structures, characterized by their bending-dominated…
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…
Origami structures have been receiving a lot of attention from engineering and scientific researchers owing to their unique properties such as deployability, multi-stability, negative stiffness, etc. However, dynamic properties of origami…
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…
Manipulation of thin sheets by folding and cutting offers opportunity to engineer structures with novel mechanical properties, and to prescribe complex force-displacement relationships via material elasticity in combination with the…
In this paper, a hybrid quasi-static atomistic simulation method at finite temperature is developed, which combines the advantages of MD for thermal equilibrium and atomic-scale finite element method (AFEM) for efficient equilibration. Some…
Advances in engineering mesoscopic quantum devices have led to new material platforms where electronic transport can be achieved on foldable structures. In this respect, we study quantum phases and their transitions on a Kirigami structure,…
Kirigami, the Japanese art of paper cutting, has recently enabled the design of stretchable mechanical metamaterials that can be easily realized by embedding arrays of periodic cuts into an elastic sheet. Here, we exploit kirigami…
Thin elastic sheets bend easily and, if they are patterned with cuts, can deform in sophisticated ways. Here we show that carefully tuning the location and arrangement of cuts within thin sheets enables the design of mechanical actuators…
Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…
The nonlinear mechanical response of soft materials and slender structures is purposefully harnessed to program functions by design in soft robotic actuators, such as sequencing, amplified response, fast energy release, etc. However,…
Origami describes rules for creating folded structures from patterns on a flat sheet, but does not prescribe how patterns can be designed to fit target shapes. Here, starting from the simplest periodic origami pattern that yields one…
Extended from its electromagnetic counterpart, transformation thermodynamics applied to thermal conduction equations can map a virtual geometry into a physical thermal medium, realizing the manipulation of heat flux with almost arbitrarily…
The field of rigid origami concerns the folding of stiff, inelastic plates of material along crease lines that act like hinges and form a straight-line planar graph, called the crease pattern of the origami. Crease pattern vertices in the…
Non-Euclidean origami is a promising technique for designing multistable deployable structures folded from nonplanar developable surfaces. The impossibility of flat foldability inherent to non-Euclidean origami results in two disconnected…
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…