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Origami, the traditional paper-folding art, has inspired the modern design of numerous flexible structures in science and engineering. In particular, origami structures with different physical properties have been studied and utilized for…
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-based structures play an important role in the realization of deployable mechanisms and unique mechanical properties via programmable deformation by folding. Among origami-based structures, tessellation by the coupling of origami…
Kirigami is an increasingly useful fabrication method to produce shape-programmable metamaterial structures. However, inverse design remains difficult because deployment is nonlinear, and feasible cut layouts must satisfy discrete…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
The article studies the elastic and locomotive properties of Miura-ori-type paper origami. The mechanics of a single paper crease is studied experimentally, and its non-elastic properties turn out to be crucial. The entire origami…
Origami structures are characterized by a network of folds and vertices joining unbendable plates. For applications to mechanical design and self-folding structures, it is essential to understand the interplay between the set of folds in…
Biologically-inspired robots are a very interesting and difficult branch of robotics dues to its very rich dynamical and morphological complexities. Among them, flying animals, such as bats, have been among the most difficult to take…
We introduce an elastic-driven self-folding approach that fabricates robots directly from flat 3D-printed conductive PLA nets. Elastic bands routed through printed hooks store energy that folds the sheet into programmed 3D geometries, while…
Origami has shown the potential to approximate three-dimensional curved surfaces by folding through designed crease patterns on flat materials. The Miura-ori tessellation is a widely used pattern in engineering and tiles the plane when…
Laminate mechanisms are a reliable concept in producing lowcost robots for educational and commercial purposes. These mechanisms are produced using low-cost manufacturing techniques which have improved significantly during recent years and…
In this paper we report a new promising idea on the design and manufacturing of ply composite structures, tailored to exhibit maximum stiffness under given weight constraints and loading conditions. It is based on the idea behind an…
Kirigami, an ancient paper cutting art, offers a promising strategy for 2D-to-3D shape morphing through cut-guided deformation. Existing kirigami designs for target 3D curved shapes rely on intricate cut patterns in thin sheets, making the…
We present RodSteward, a design-to-assembly system for creating furniture-scale structures composed of 3D printed joints and precision-cut rods. The RodSteward systems consists of: RSDesigner, a fabrication-aware design interface that…
This letter describes the manufacturing and experimental characterization of novel stretchable strain sensors for continuum robots. The overarching goal of this research is to provide a new solution for the shape sensing of these devices.…
This work introduces Ori-Sense, a compliant capacitive sensor inspired by the inverted Kresling origami pattern. The device translates torsional deformation into measurable capacitance changes, enabling proprioceptive feedback for soft…
Deployable structures inspired by origami have provided lightweight, compact, and reconfigurable solutions for various robotic and architectural applications. However, creating an integrated structural system that can effectively balance…
We merge classical origami concepts with active actuation by designing origami patterns whose panels undergo prescribed metric changes. These metric changes render the system non-Euclidean, inducing non-zero Gaussian curvature at the…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Shape-morphing structures have the capability to transform from one state to another, making them highly valuable in engineering applications. In this study, it is propose a two-stage shape-morphing framework inspired by kirigami structures…