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Fully soft bistable mechanisms have shown extensive applications ranging from soft robotics, wearable devices, and medical tools, to energy harvesting. However, the lack of design and fabrication methods that are easy and potentially…
We present an additive approach for the inverse design of kirigami-based mechanical metamaterials by focusing on the empty (negative) spaces instead of the solid tiles. By considering each negative space as a four-bar linkage, we identify a…
Metamaterials with floppy modes called mechanisms are a burgeoning template for shape-morphing systems and structures across scales. Here, we present a design recipe that transforms an arbitrary plane tiling into a 2D kirigami pattern with…
The controlled assembly of solid-state spins with nanoscale spatial precision is an outstanding challenge for quantum technology. Here, we combine DNA-based patterning with nitrogen-vacancy (NV) ensemble quantum sensors in diamond to form…
Motivated by recent theoretical and experimental interest in metamaterials comprising non-local coupling terms, we present an analytic framework to realise materials with arbitrary complex dispersion relations. Building on the inverse…
Adaptation to various scene configurations and object properties, stability and dexterity in robotic grasping manipulation is far from explored. This work presents an origami-based shape morphing fingertip design to actively tackle the…
We propose an algorithmic framework of a pluripotent structure evolving from a simple compact structure into diverse complex 3-D structures for designing the shape transformable, reconfigurable, and deployable structures and robots. Our…
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…
An efficient way to introduce elastic energy that can bias an origami structure toward desired shapes is to allow curved tiles between the creases. The bending of the tiles supplies the energy and the tiles themselves may have additional…
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…
Ring origami, consisting of closed-loop rods, is a class of shape-morphing structures that undergo shape transformation through folding enabled by snap-buckling instabilities, referred to as snap-folding instabilities. Previous studies have…
Soft deployable structures - unlike conventional piecewise rigid deployables based on hinges and springs - can assume intricate 3-D shapes, thereby enabling transformative technologies in soft robotics, shape-morphing architecture, and…
We leverage the snap-through response of a bistable origami mechanism to induce a discontinuous evolution of drag with flow speed. The transition between equilibrium states is passively actuated by airflow, and we demonstrate that large…
For centuries, human civilizations devised metal forming techniques to make tools and items; yet, customized metal forming remains costly and intricate. Laser-forming origami} (lasergami) is a metal forming process where a laser beam cuts…
Rigid origami has shown potential in large diversity of practical applications. However, current rigid origami crease pattern design mostly relies on known tessellations. This strongly limits the diversity and novelty of patterns that can…
Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or running) and different users (such as athletes with strong legs…
This study starts from the counter-intuitive question of how we can render a conventional stiff, non-stretchable and even brittle material conformable so that it can fully wrap around a curved surface, such as a sphere, without failure.…
This paper presents the design of a new soft-rigid robotic platform, "GeoGami". We leverage origami surface capabilities to achieve shape contraction and to support locomotion with underactuated forms. A key challenge is that origami…
Reconfigurable robots that can change their physical configuration post-fabrication have demonstrate their potential in adapting to different environments or tasks. However, it is challenging to determine how to optimally adjust…
Programmable folding of elastic sheets typically relies on predefined flexible creases or active materials-enabled hinges, which lack intrinsic bistability and limit reprogrammability within a single structure. Here, we present a…