Fig. 2: Design concept and motion capability of a pneumatic-driven Kresling pattern with a side pouch.
From: Plug & play origami modules with all-purpose deformation modes
a Integration of a side pouch into an airtight Kresling pattern. b Coupled twisting and contraction motion when the side pouch is deflated and the main chamber is vacuumed. The twisting angle \(\beta \, > \, 0\) when the upper cap twists clockwise and \(\beta \, < \ \, 0\) otherwise. c Coupled bending and twisting motion when a side pouch is inflated and the main chamber is vacuumed. The bending angle \(\alpha \, > \, 0\) when the upper cap bends anticlockwise. Shaded regions represent 1 standard deviation; solid lines represent the mean values.
