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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,…
We investigate the mechanical response of thin sheets perforated with a square array of mutually orthogonal cuts, which leaves a network of squares connected by small ligaments. Our combined analytical, experimental and numerical results…
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…
There is a great demand for the robotization of manufacturing processes fea-turing monotonous labor. Some manufacturing tasks requiring specific skills (welding, painting, etc.) suffer from a lack of workers. Robots have been used in these…
Lattices and their underlying symmetries play a central role in determining the physical properties and applications of many natural and engineered materials. By bridging the lattice geometry and rigid-folding kinematics, this study…
Folding nanopatterned flat sheets into complex 3D structures enables the fabrication of meta-biomaterials that combine a rationally designed 3D architecture (e.g., to tune mechanical and mass transport properties) with nanoscale surface…
Origami is an ancient art that continues to yield both artistic and scientific insights to this day. In 2012, Buhler, Butler, de Launey, and Graham extended these ideas even further by developing a mathematical construction inspired by…
Traditional origami structures can be continuously deformed back to a flat sheet of paper, while traditional kirigami requires glue or seams in order to maintain its rigidity. In the former, non-trivial geometry can be created through…
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…
Controlling the connectivity and rigidity of kirigami, i.e. the process of cutting paper to deploy it into an articulated system, is critical in the manifestations of kirigami in art, science and technology, as it provides the resulting…
Origami metamaterials typically consist of folded sheets with periodic patterns, conferring them with remarkable mechanical properties. In the context of Continuum Mechanics, the majority of existing predictive methods are mechanism analogs…
The design and fabrication of soft robot hands is still a time-consuming and difficult process. Advances in rapid prototyping have accelerated the fabrication process significantly while introducing new complexities into the design process.…
Rotational erection system (RES) represents an origami-based design method for generating a three-dimensional (3D) structure from a planar sheet without compression. Its rotational and translational kinematics is fully encoded in a form 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…
Traditional robotic manipulator design methods require extensive, time-consuming, and manual trial and error to produce a viable design. During this process, engineers often spend their time redesigning or reshaping components as they…
Periodic origami patterns made with repeating unit cells of creases and panels bend and twist in complex ways. In principle, such soft modes of deformation admit a simplified asymptotic description in the limit of a large number of cells.…
Kirigami tessellations, regular planar patterns formed by cutting flat, thin sheets, have attracted recent scientific interest for their rich geometries, surprising material properties and promise for technologies. Here we pose and solve…
Recent advances in multistable metamaterials reveal a link between structural configuration transition and Boolean logic, heralding a new generation of computationally capable intelligent materials. To enable higher-level computation,…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
Despite the popularity and widespread use of semi-structured data formats such as JSON, end-to-end supervised learning applied directly to such data remains underexplored. We present ORIGAMI (Object RepresentatIon via Generative…