Extended Data Fig. 9: Stiffness manipulation of the stepping device.
From: Active mechanical haptics with high-fidelity perceptions for immersive virtual reality
a, Synchronous control of the folding angles of the curved origami tessellation. b-d, Optical images of the stepping processes and the corresponding force–displacement relationships of a curved origami module inside the stepping device with folding angle β = 120° under different control angles △β = 0°, 35°, and 60°. Solid lines are measured results and dash lines denote theoretical ones.
