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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…
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…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
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…
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…
Programmable folding of elastic sheets typically relies on predefined flexible creases or active materials-enabled hinges, which lack intrinsic bistability and limit reprogrammability within a single structure. Here, we present a…
A new paradigm called physical reservoir computing has recently emerged, where the nonlinear dynamics of high-dimensional and fixed physical systems are harnessed as a computational resource to achieve complex tasks. Via extensive…
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,…
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,…
Origami describes rules for creating folded structures from patterns on a flat sheet, but does not prescribe how patterns can be designed to fit target shapes. Here, starting from the simplest periodic origami pattern that yields one…
Adaptive structures are of interest for their ability to dynamically modify mechanical properties post fabrication, enabling structural performance that is responsive to environmental uncertainty and changing loading conditions. Dynamic…
Miura-Ori, a celebrated origami pattern that facilitates functionality in matter, has found multiple applications in the field of mechanical metamaterials. Modifications of Miura-Ori pattern can produce curved configurations during folding,…
Legged machines are becoming increasingly agile and adaptive but they have so far lacked the morphological diversity of legged animals, which have been rearranged and reshaped to fill millions of niches. Unlike their biological…
Multi-step pathways, constituted of a sequence of reconfigurations, are central to a wide variety of natural and man-made systems. Such pathways autonomously execute in self-guided processes such as protein folding and self-assembly, but…
The use of origami in engineering has significantly expanded in recent years, spanning deployable structures across scales, folding robotics, and mechanical metamaterials. However, finding foldable paths can be a formidable task as the…
Tensegrity robots, composed of rigid struts and elastic tendons, provide impact resistance, low mass, and adaptability to unstructured terrain. Their compliance and complex, coupled dynamics, however, present modeling and control…
We leverage the snap-through response of a bistable origami mechanism to induce a discontinuous evolution of drag with flow speed. The transition between equilibrium states is passively actuated by airflow, and we demonstrate that large…
Kirigami, the creative art of paper cutting, is a promising paradigm for mechanical metamaterials. However, to make kirigami-inspired structures a reality requires controlling the topology of kirigami to achieve connectivity and rigidity.…
Designing a robot or structure that can fold itself into a target shape is a process that involves challenges originated from multiple sources. For example, the designer of rigid self-folding robots must consider foldability from geometric…
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…