Kirigami, a traditional paper cutting art, offers a promising strategy for 2D-to-3D shape morphing through cut-guided deformation. Existing kirigami designs for target 3D curved shapes rely on intricate cut patterns in thin sheets, making the inverse design challenging. Motivated by the Gauss-Bonnet theorem that correlates the geodesic curvature along the boundary with the Gaussian curvature, here, we exploit programming the curvature of cut boundaries rather than the complex cut patterns in kirigami sheets for target 3D curved morphologies through both forward and inverse designs. The strategy largely simplifies the inverse design. Leveraging this strategy, we demonstrate its potential applications as a universal and nondestructive gripper for delicate objects, including live fish, raw egg yolk, and a human hair, as well as dynamically conformable heaters for human knees. This study opens a new avenue to encode boundary curvatures for shape-programing materials with potential applications in soft robotics and wearable devices.
Two-dimensional (2D) growth-induced 3D shaping enables shape-morphing materials for diverse applications. However, quantitative design of 2D growth for arbitrary 3D shapes remains challenging. Here we show a 2D material programming approach for 3D shaping, which prints hydrogel sheets encoded with spatially controlled in-plane growth (contraction) and transforms them to programmed 3D structures. We design 2D growth for target 3D shapes via conformal flattening. We introduce the concept of cone singularities to increase the accessible space of 3D shapes. For active shape selection, we encode shape-guiding modules in growth that direct shape morphing toward target shapes among isometric configurations. Our flexible 2D printing process enables the formation of multimaterial 3D structures. We demonstrate the ability to create 3D structures with a variety of morphologies, including automobiles, batoid fish, and real human face.
more » « less- Award ID(s):
- 1848511
- NSF-PAR ID:
- 10211453
- Publisher / Repository:
- Nature Publishing Group
- Date Published:
- Journal Name:
- Nature Communications
- Volume:
- 12
- Issue:
- 1
- ISSN:
- 2041-1723
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Abstract A new class of thin flexible structures is introduced that morph from flat into prescribed 3D shapes through strain mismatch between layers of a composite plate. To achieve control over the target shape, two different concepts are coupled. First, motivated by biological growth, strain mismatch is applied between the flat composite layers to transform it into a 3D shape. Depending on the amount of the applied strain mismatch, the transformation involves buckling into one of the available finite number of deformation modes. Second, inspired by kirigami, portions of the material are removed from one of the layers according to a specific pattern. This dramatically increases the number of possible 3D shapes and allows us to attain specific topologies. An experimental apparatus that allows precise control of the strain mismatch is devised. An inverse problem is posed, where starting from a given target shape, the physical parameters that make these shapes possible are determined. To show how the concept works, it focuses on circular composite plates and designs a kirigami pattern that yields a hemispherical structure. The analysis combines a theoretical approach with numerical simulations and physical experiments to understand and predict the shape transition from 2D to 3D. The tools developed here can be extended to attain arbitrary 3D shapes. The initially flat shape suggests that conventional additive manufacturing techniques can be used to functionalize the soft kirigami composite to fabricate, for example, deployable 3D structures, smart skins, and soft electromagnetic metasurfaces.
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Continuous and controlled shape morphing is essential for soft machines to conform, grasp, and move while interacting safely with their surroundings. Shape morphing can be achieved with two-dimensional (2D) sheets that reconfigure into target 3D geometries, for example, using stimuli-responsive materials. However, most existing solutions lack the ability to reprogram their shape, face limitations on attainable geometries, or have insufficient mechanical stiffness to manipulate objects. Here, we develop a soft, robotic surface that allows for large, reprogrammable, and pliable shape morphing into smooth 3D geometries. The robotic surface consists of a layered design composed of two active networks serving as artificial muscles, one passive network serving as a skeleton, and cover scales serving as an artificial skin. The active network consists of a grid of strips made of heat-responsive liquid crystal elastomers (LCEs) containing stretchable heating coils. The magnitude and speed of contraction of the LCEs can be controlled by varying the input electric currents. The 1D contraction of the LCE strips activates in-plane and out-of-plane deformations; these deformations are both necessary to transform a flat surface into arbitrary 3D geometries. We characterize the fundamental deformation response of the layers and derive a control scheme for actuation. We demonstrate that the robotic surface provides sufficient mechanical stiffness and stability to manipulate other objects. This approach has potential to address the needs of a range of applications beyond shape changes, such as human-robot interactions and reconfigurable electronics.
