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Gripper adaptability to handle objects of different shape and size brings high flexibility to manipulation. Gripping flat, round, or narrow objects poses challenges to even the most sophisticated robotic grippers. Among various gripper technologies, the vacuum suction grippers provide design simplicity, yet versatility at low cost, however, their application is limited to their fixed shape and size. Here, we present an origamiinspired reconfigurable suction gripper to address adaptability with robotic suction grippers. Constructed from rigid and soft components and driven by compact shape memory alloy actuators, the gripper can effectively self-fold into three shape modes to pick large and small flat, narrow cylindrical, triangular and spherical objects. The 10-g few centimeters gripper, lifts loads up to 5 N, 50 times its weight. We also present an underactuated prototype, demonstrating the versatility of our design and actuation methods.

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Origami shape transformation is dictated by predefined folding patterns and their folding sequence. The working principle of robotic origami is based on the same principle: we design quasi-2D tiles and connecting hinges and define and program their folding sequences. Since the tiles are often of uniform shape and size, their final configuration is governed by the kinematic relationship. Mathematicians, computer scientists and even architects have studied a wide range of origami algorithms. However, for multiple shape transformations, the origami design parameters and consequently sequence planning become more challenging. In this work, we present a reconfigurable interactive interface, a physicsbased modeling control interface to explore the design space of origami robots. We developed two interactive modes for proof of concept of a bidirectional communication interface between virtual and physical environments. The first interaction mode is origami-inspired, foldable surfaces with distributed sensors that can recreate folding sequences and shape transformations in a virtual environment via hardware-in-loop simulation. Its complementary digital transcription lays the foundation for a robotic origami design tool that provides visual representation of various design formulations as well as an intuitive controller for robotic origami. In the second interaction mode, we construct a physics-based modeling interface for intuitive user manipulation of robotic origami in a virtual environment. Algorithms for graphical representation and command transformation were developed for robotic interaction. Lastly, we tested the efficacy of the algorithms on prototypes to discover the applications and capacities of the reconfigurable interactive interface.

This paper presents the proof-of-concept for a 4D printed active compliant hinge with a selectively variable stiffness for the deployment and reorientation of satellite appendages. We use 4D printing to create an active compliant hinge capable of bending to a given angular position, holding the position without consuming energy and reorienting itself multiple times in a slow and controlled manner without using rigid mechanisms and, therefore, requiring no lubrication. The deployment and the reorientation of the hinge are achieved by exploiting thermally induced stiffness modulation of one of the constituting materials and two antagonistic shape memory alloy actuators. The hinge is specifically designed for the case study of a 6U CubeSat with two orientable solar panels. In this work, we first explain the working principle of the hinge and propose three different actuation strategies to increase the energy collection of the considered CubeSat. Second, we describe the specific functional and geometric requirements of the hinge, the resulting design and the fabricated functional prototype. The latter is tested in a standard laboratory environment to measure the range of motion, the energy consumption and the actuation time. Finally, the feasibility of the three proposed actuation strategies is evaluated considering the corresponding net increase in collected energy. The results show that the hinge is compatible with the stowing requirements and capable of achieving maximum angular positions larger than 90 • in both directions and holding any intermediate position with an accuracy of less than 3 • . The three actuation strategies considered lead, in a standard laboratory environment, to an increase in energy generation between 54% and 72%.