Extended Data Fig. 5: Stiffness manipulation of the in-hand device.
From: Active mechanical haptics with high-fidelity perceptions for immersive virtual reality
a, Synchronous control of the folding angles of the curved origami buttons. b-e, Optical images and the corresponding force–displacement relationships of a curved origami button with folding angle β = 120° under different control angles △β = 0°, 30°, 60°, and 90°.
