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The wrist plays a pivotal role in facilitating motion dexterity and hand functions. Wrist orthoses, from passive braces to active exoskeletons, provide an effective solution for the assistance and rehabilitation of motor abilities. However,…
We establish a novel local-global framework for analyzing rigid origami mechanics through cosheaf homology, proving the equivalence of truss and hinge constraint systems via an induced linear isomorphism. This approach applies to origami…
The navigation of complex labyrinths with tens of rooms under visual partially observable state is typically addressed using recurrent deep reinforcement learning architectures. In this work, we show that navigation can be achieved through…
Graphene nanopatterning on highly oriented pyrolytic graphite (HOPG) has previously been shown using both atomic force microscopy (AFM) and scanning tunneling microscopy (STM) based techniques, including folding of intrinsic step edges and…
Orthogonal graph drawing has many applications, e.g., for laying out UML diagrams or cableplans. In this paper, we present a new pipeline that draws multigraphs orthogonally, using few bends, few crossings, and small area. Our pipeline…
This study examines a biology-inspired approach of using reconfigurable articulation to reduce the control requirement for soft robotic arms. We construct a robotic arm by assembling Kresling origami modules that exhibit predictable…
In this paper, we show that deciding rigid foldability of a given crease pattern using all creases is weakly NP-hard by a reduction from Partition, and that deciding rigid foldability with optional creases is strongly NP-hard by a reduction…
This paper presents a modular in-pipeline climbing robot with a novel compliant foldable OmniCrawler mechanism. The circular cross-section of the OmniCrawler module enables a holonomic motion to facilitate the alignment of the robot in the…
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…
Origami-inspired robotic grippers have shown promising potential for object manipulation tasks due to their compact volume and mechanical flexibility. However, robust capture of objects with random shapes in dynamic working environments…
The study of origami-based mechanical metamaterials usually focuses on the kinematics of deployable structures made of an assembly of rigid flat plates connected by hinges. When the elastic response of each panel is taken into account,…
Automatically creating a computer program using input-output examples can be a challenging task, especially when trying to synthesize computer programs that require loops or recursion. Even though the use of recursion can make the…
We develop recursion equations to describe the three-dimensional shape of a sheet upon which a series of concentric curved folds have been inscribed. In the case of no stretching outside the fold, the three-dimensional shape of a single…
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…
We introduce an additive approach for the design of a class of transformable structures based on two-bar linkages ("scissor mechanisms") joined at vertices to form a two dimensional lattice. Our discussion traces an underlying mathematical…
Twisted few-layer graphene (tFLG) has emerged as an ideal model system for investigating novel strongly correlated and topological phenomena. However, the experimental construction of tFLG with high structural stability is still…
Robotic manipulators often face challenges in handling objects of different sizes and materials, limiting their effectiveness in practical applications. This issue is particularly pronounced when manipulating meter-scale objects or those…
Given an origami crease pattern $C=(V,E)$, a straight-line planar graph embedded in a region of $\mathbb{R}^2$, we assign each crease to be either a mountain crease (which bends convexly) or a valley crease (which bends concavely), creating…
Soft actuators have shown great advantages in compliance and morphology matched for manipulation of delicate objects and inspection in a confined space. There is an unmet need for a soft actuator that can provide torsional motion to e.g.…
The principles of origami design have proven useful in a number of technological applications. Origami tessellations in particular constitute a class of morphing metamaterials with unusual geometric and elastic properties. Although…