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In nature, materials such as ferroelastics and multiferroics can switch their microstructure in response to external stimuli, and this reconfiguration causes a simultaneous modulation of its material properties. Rapid prototyping…
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…
This study proposes a reconfigurable modular building system that assembles multistable curved-crease origami blocks. Curved-crease origami is designed with even-vertex polygonal trajectories and an elastica curvature profile. We then…
The geometric, aesthetic, and mathematical elegance of origami is being recognized as a powerful pathway to self-assembly of micro and nano-scale machines with programmable mechanical properties. The typical approach to designing the…
Self-folding origami, structures that are engineered flat to fold into targeted, three-dimensional shapes, have many potential engineering applications. Though significant effort in recent years has been devoted to designing fold patterns…
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…
Origami designs offer extreme reconfigurability due to hinge rotation and facet deformation. This can be exploited to make lightweight metamaterials with controlled deployability and tunable properties. Here, we create a family of…
Origami, which transforms flat sheets into three-dimensional shapes through folding patterns, has inspired the emergence of deployable systems in architecture and civil realms. Most existing origami-inspired deployable systems are based on…
Non-Euclidean origami is a promising technique for designing multistable deployable structures folded from nonplanar developable surfaces. The impossibility of flat foldability inherent to non-Euclidean origami results in two disconnected…
Metamaterials achieve unprecedented properties from designed architected structures. However, they are often constructed from a single repeating building block that exhibits monotonic shape changes with single degree of freedom, thereby…
We present an approach to overcoming challenges in dynamical dexterity for robots through tunable origami structures. Our work leverages a one-parameter family of flat sheet crease patterns that folds into origami bellows, whose axial…
Origami and kirigami have emerged as potential tools for the design of mechanical metamaterials whose properties such as curvature, Poisson ratio, and existence of metastable states can be tuned using purely geometric criteria. A major…
Shape-morphing capabilities are crucial for enabling multifunctionality in both biological and artificial systems. Various strategies for shape morphing have been proposed for applications in metamaterials and robotics. However, few of…
Recently, inflatable elements integrated in robotics systems have enabled complex motions as a result of simple inputs. However, these fluidic actuators typically exhibit unimodal deformation upon inflation. Here, we present a new design…
Soft robots employing compliant materials and deformable structures offer great potential for wearable devices that are comfortable and safe for human interaction. However, achieving both structural integrity and compliance for comfort…
Flexible robotics are capable of achieving various functionalities by shape morphing, benefiting from their compliant bodies and reconfigurable structures. Here we construct and study a class of origami springs generalized from the known…
Structures and/or materials with engineered functionality, capable of achieving targeted mechanical responses reacting to changes in external excitation, have various potential engineering applications, e.g. aerospace, oceanographic…
Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently…
The recent development of modular origami structures has ushered in a new era for active metamaterials with multiple degrees of freedom (multi-DOF). Notably, no systematic inverse design approach for volumetric modular origami structures…
Mechanical metamaterials with complex microstructures have superior physical properties such as graded stiffness, negative Poisson's ratio, and advantage in energy absorption. In recent years, origami provide many inspirations in the…