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Thermally actuated twisted and coiled polymer (TCP) artificial muscles exhibit exceptional specific work capacities but are limited by an inherent competition between load-bearing capacity and actuation stroke. To address this limitation,…
This work presents a new fiberless soft pneumatic actuator that can work multifunctional and bidirectional, and its embedded sensors give it a self-proprioception ability. This actuator works based on the idea of employing helical pressure…
Origami folded cylinders (origami bellows) have found increasingly sophisticated applications in space flight and medicine. In spite of this interest, a general understanding of the mechanics of an origami folded cylinder has been elusive.…
Some bi or multi-stable Mechanical meta-structures have been implemented as mechanical memory devices which however are with limits such as complex structural forms, low information storage capability and/or fragile structural stability to…
Origami-based design holds promise for developing materials whose mechanical properties are tuned by crease patterns introduced to thin sheets. Although there has been heuristic developments in constructing patterns with desirable…
Define the augmented square twist origami crease pattern to be the classic square twist crease pattern with one crease added along a diagonal of the twisted square. In this paper we fully describe the rigid foldability of this new crease…
Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model…
Soft robotics gripper have shown great promise in handling fragile and geometrically complex objects. However, most existing solutions rely on bulky actuators, complex control strategies, or advanced tactile sensing to achieve stable and…
Origami designs and structures have been widely used in many fields, such as morphing structures, robotics, and metamaterials. However, the design and fabrication of origami structures rely on human experiences and skills, which are both…
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…
Liquid crystal elastomers represent a novel class of programmable shape-transforming materials whose shape change trajectory is encoded in the material's nematic director field. Using three-dimensional nonlinear finite element…
An origami manifold is a manifold equipped with a closed 2-form which is symplectic except on a hypersurface where it is like the pullback of a symplectic form by a folding map and its kernel fibrates with oriented circle fibers over a…
In this work, we propose a novel quadrotor design capable of folding its arms vertically to grasp objects and navigate through narrow spaces. The transformation is controlled actively by a central servomotor, gears, and racks. The arms…
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,…
For origami structures, perforating or cutting slits along creases is an effective method to define fold lines and alleviate stress concentrations at vertices. In this letter we show numerically and experimentally that for…
Folding paper along curves leads to spatial structures that have curved surfaces meeting at spatial creases, defined as curve-fold origami. In this work, we provide an Eulerian framework focusing on the mechanics of arbitrary curve-fold…
Lightweight, durable textile-based inflatable soft actuators are widely used in soft robotics, particularly for wearable robots in rehabilitation and in enhancing human performance in demanding jobs. Fabricating these actuators typically…
Inspired by the allure of additive fabrication, we pose the problem of origami design from a new perspective: how can we grow a folded surface in three dimensions from a seed so that it is guaranteed to be isometric to the plane? We solve…
Non-Euclidean surfaces are ubiquitous in numerous engineering fields, such as automotive, aerospace, and biomedical engineering domains. Morphing origami has numerous potential engineering applications, including soft robots, mechanical…
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…