Conical Kresling origami and its applications to curvature and energy programming

Kresling origami has recently been widely used to design mechanical metamaterials, soft robots and smart devices, benefiting from its bistability and compression-twist coupling deformation. However, previous studies mostly focus on the traditional parallelogram Kresling patterns which can only be folded to cylindrical configurations. In this paper, we generalize the Kresling patterns by introducing free-form quadrilateral unit cells, leading to diverse conical folded configurations. The conical Kresling origami is modelled with a truss system, by which the stable states and energy landscapes are derived analytically. We find that the generalization preserves the bistable nature of parallelogram Kresling patterns, while enabling an enlarged design space of geometric parameters for structural and mechanical applications. To demonstrate this, we develop inverse design frameworks to employ conical Kresling origami to approximate arbitrary target surfaces of revolution and achieve prescribed energy landscapes. Various numerical examples obtained from our framework are presented, which agree well with the paper models and the finite-element simulations. We envision that the proposed conical Kresling pattern and inverse design framework can provide a new perspective for applications in deployable structures, shape-morphing devices, multi-modal robots and multistable metamaterials.

Divergent Design of Mechanical Metamaterials Clan Deducted from Arc-serpentine Curve

The exotic properties of mechanical metamaterials are determined by their unit-cells' structure and spatial arrangement, in analogy with the atoms of conventional materials. Companioned with the mechanism of structural or cellular materials1–5, the ancient wisdom of origami6–11 and kirigami12–16 and the involvement of multiphysics interaction2,17,18 enrich the programable mechanical behaviors of metamaterials, including shape-morphing8,12,14,16,19, compliance4,5,8,17,20, texture2,18,21, and topology11,18,22−25. However, typical design strategies are mainly convergent, which transfers various structures into one family of metamaterials that are relatively incompatible with the others and do not fully bring combinatorial principles3,10,26 into play. Here, we report a divergent strategy that designs a clan of mechanical metamaterials with diverse properties derived from a symmetric curve consisting of serpentines and arcs. We derived this composite curve into planar and cubic unit-cells and modularized them by attaching magnetics. Moreover, stacking each of them yields two- and three-dimensional auxetic metamaterials, respectively. Assembling with both modules, we achieved three thick plate-like metamaterials separately with flexibility, in-plane buckling, and foldability. Furthermore, we demonstrated that the hybrid of paradox properties is possible by combining two of the above assembles. We anticipate that this divergent strategy paves the path of building a hierarchical library of diverse combinable mechanical metamaterials and making conventional convergent strategies more efficient to various requests. Main

Flexible mechanical metamaterials enabling soft tactile sensors with multiple sensitivities at multiple force sensing ranges

The majority of existing tactile sensors are designed to measure a particular range of force with a fixed sensitivity. However, some applications require tactile sensors with multiple task-relevant sensitivities at multiple ranges of force sensing. Inspired by the human tactile sensing capability, this paper proposes a novel soft tactile sensor based on mechanical metamaterials which exhibits multiple sensitivity regimes due to the step-by-step locking behaviour of its heterogenous multi-layered structure. By tuning the geometrical design parameters of the collapsible layers, each layer experiences locking behaviour under different ranges of force which provides different sensitivity of the sensor at different force magnitude. The integration of a magnetic-based transduction method with the proposed structure results in high design degrees of freedom for realising the desired contact force sensitivities and corresponding force sensing ranges. A systematic design procedure is proposed to select appropriate design parameters to produce the desired characteristics. Two example designs of the sensor structure were fabricated using widely available benchtop 3D printers and tested for their performance. The results showed the capability of the sensor in providing the desired characteristics in terms of sensitivity and force range and being realised in different shapes, sizes and number of layers in a single structure. The proposed multi-sensitivity soft tactile sensor has a great potential to be used in a wide variety of applications where different sensitivities of force measurement is required at different ranges of force magnitudes, from robotic manipulation and human–machine interaction to biomedical engineering and health-monitoring.