Related papers: MuA-Ori: Multimodal Actuated Origami
Origami inspired architectures offer a powerful route toward lightweight, reconfigurable, and programmable robotic systems. Yet, a unified mechanics framework capable of seamlessly bridging rigid folding, elastic deformation, and stability…
We present two concepts of deformable mirror to compensate for first order optical aberrations. Deformation systems are designed using both elasticity theory and Finite Element Analysis in order to minimize the number of actuators. Starting…
Origami-inspired robots are of particular interest given their potential for rapid and accessible design and fabrication of elegant designs and complex functionalities through cutting and folding of flexible 2D sheets or even strings,…
Origami is the archetype of a structural material with unusual mechanical properties that arise almost exclusively from the geometry of its constituent folds and forms the basis for mechanical metamaterials with an extreme deformation…
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…
Origami offers a versatile framework for designing morphable structures and soft robots by exploiting the geometry of folds. Tubular origami structures can act as continuum manipulators that balance flexibility and strength. However,…
Artificial muscles embody human aspirations for engineering lifelike robotic movements. This paper introduces an architecture for Inflatable Fluid-Driven Origami-Inspired Artificial Muscles (IN-FOAMs). A typical IN-FOAM consists of an…
Flexible surfaces can modulate fluid forces through deformation, enabling passive adaptation to flow conditions. Here we show that kirigami sheets, planar surfaces patterned with arrays of parallel slits, provide a simple route to tunable…
This study proposes a reconfigurable modular building system that assembles multistable curved-crease origami blocks. Curved-crease origami is designed with even-vertex polygonal trajectories and an elastica curvature profile. We then…
Despite advances in localization and navigation, aerial robots inevitably remain susceptible to accidents and collisions. In this work, we propose a passive foldable airframe as a protective mechanism for a small aerial robot. A foldable…
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…
Structures and/or materials with engineered functionality, capable of achieving targeted mechanical responses reacting to changes in external excitation, have various potential engineering applications, e.g. aerospace, oceanographic…
Wireless millimeter-scale origami robots that can locomote in narrow spaces and morph their shapes have recently been explored with great potential for biomedical applications. Existing millimeter-scale origami devices usually require…
Origami designs offer extreme reconfigurability due to hinge rotation and facet deformation. This can be exploited to make lightweight metamaterials with controlled deployability and tunable properties. Here, we create a family of…
One-dimensional slender bodies can be deformed or shaped into spatially complex curves relatively easily due to their inherent compliance. However, traditional methods of fabricating complex spatial shapes are cumbersome, prone to error…
Traditionally, origami has been categorized into two groups according to their kinematics design: rigid and non-rigid origami. However, such categorization can be superficial, and rigid origami can obtain new mechanical properties by…
Flexible robotics are capable of achieving various functionalities by shape morphing, benefiting from their compliant bodies and reconfigurable structures. Here we construct and study a class of origami springs generalized from the known…
In this study, we examine a rapid and reversible origami folding method by exploiting a combination of resonance excitation, asymmetric multi-stability, and active control. The underlying idea is that, by harmonically exciting a…
Origami and kirigami have emerged as potential tools for the design of mechanical metamaterials whose properties such as curvature, Poisson ratio, and existence of metastable states can be tuned using purely geometric criteria. A major…
While its biological significance is well-documented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator…