Fig. 7: The embedded scheme enables various other shape-morphing modules.
From: Embedded shape morphing for morphologically adaptive robots
a A twisting module with a sheathed TCA in a helical shape can twist to an angle (90°) and hold the angle. b A 3D bending module with three parallel sheathed TCAs can morph into any 3D curved shape. c A twisting and bending module with a sheathed TCA arranged in a zigzag shape can morph into a helical shape. d A discrete surface module with a sheathed TCA in a loop can morph into three distinct shapes based on the combinations of creases that are selected to be softened. e A grid surface module can morph into different shapes based on the actuation patterns of the TCAs.
