Fig. 1: All-purpose deformation modes of the present origami module.
From: Plug & play origami modules with all-purpose deformation modes
a A universal actuation module consists of an appropriate combination of the Kresling origami patterns and inflatable cells. This module exhibits contraction/extension, bending, twisting, and any combination of these motion modes via pneumatic actuation. b Comparison of the motion modes of the present module with existing origami-based4,5,27,28,31,32,49,50,51,52, pneumatic7,8,15,16,17,24,53,54,55,56, and smart material actuators57,58,59,60,61,62,63,64,65,66.
