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Knitting interloops one-dimensional yarns into three-dimensional fabrics that exhibit behaviour beyond their constitutive materials. How extensibility and anisotropy emerge from the hierarchical organization of yarns into knitted fabrics has long been unresolved. We seek to unravel the mechanical roles of tensile mechanics, assembly and dynamics arising from the yarn level on fabric nonlinearity by developing a yarn-based dynamical model. This physically validated model captures the mechanical response of knitted fabrics, analogous to flexible metamaterials and biological fibre networks due to geometric nonlinearity within such hierarchical systems. Fabric anisotropy originates from observed yarn–yarn rearrangements during alignment dynamics and is topology-dependent. This yarn-based model also provides a design space of knitted fabrics to embed functionalities by varying geometric configuration and material property in instructed procedures compatible to machine manufacturing. Our hierarchical approach to build up a knitted fabric computationally modernizes an ancient craft and represents a first step towards mechanical programmability of knitted fabrics in wide engineering applications. 

The pursuit of materials with enhanced functionality has led to the emergence of metamaterials—artificially engineered materials whose properties are determined by their structure rather than composition. Traditionally, the building blocks of metamaterials are arranged in fixed positions within a lattice structure. However, recent research has revealed the potential of mixing disconnected building blocks in a fluidic medium. Inspired by these recent advances, here we show that by mixing highly deformable spherical capsules into an incompressible fluid, we can realize a ‘metafluid’ with programmable compressibility, optical behaviour and viscosity. First, we experimentally and numerically demonstrate that the buckling of the shells endows the fluid with a highly nonlinear behaviour. Subsequently, we harness this behaviour to develop smart robotic systems, highly tunable logic gates and optical elements with switchable characteristics. Finally, we demonstrate that the collapse of the shells upon buckling leads to a large increase in the suspension viscosity in the laminar regime. As such, the proposed metafluid provides a promising platform for enhancing the functionality of existing fluidic devices by expanding the capabilities of the fluid itself. 

Nearly all soft wearable robots rely on textiles to distribute actuation forces to the human body; however, the mechanical hysteresis of these materials significantly complicates device control. If not properly accounted for, this history-dependent behavior can result in substantial over-/under-support for which the human user must actively compensate. While a number of hysteresis modeling approaches have been proposed, these techniques are either (a) heuristic-driven and do not accurately reflect the observed physical behavior or (b) rely on complex benchtop calibration procedures that are not amenable to wearable applications where the complete human-robot system must be holistically considered. In this work, we present a new strategy to predict the complex hysteretic response of the combined human-robot system given its full state history using a mathematical technique known as a Preisach model. Our approach is directly personalized to each individual with data collected on the body in $\sim 90$seconds. We demonstrate the technique with a previously proposed soft wearable robot for shoulder assistance, though the concept is applicable to any joint. To benchmark the efficacy of our approach against previously proposed strategies, we performed an open-loop trajectory tracking procedure with 12 human participants and an articulated mannequin. Our strategy achieved an average shoulder elevation angle tracking accuracy of 5.3° across human participants, representing a significant improvement compared to prior techniques. We anticipate that this new approach will facilitate significantly improved soft wearable robot control by providing reliable estimates of the full hysteretic system response, enabling more robust physical human-robot interaction and coordination. 

Abstract Flexible metamaterials have been increasingly harnessed to create functionality through their tunable and unconventional response. Herein, chiral unit cells based on Archimedean spirals are employed to transform a linear displacement into twisting. First, the effect of geometry on such extension‐twisting coupling is investigated. This unravels a wide range of highly nonlinear behaviors that can be programmed. Additionally, it is demonstrated that by combining the spirals with polarizing films one can create mechanical pixels capable of modulating the transmission of light through deformation. Guided by experiments and numerical analyses, pixels are arranged in 2D arrays to realize black and white and color displays, which reveal distinct images at different states of deformation. As such, the study puts forward a methodology for the design of an emerging class of flexible devices that can convert nonlinear elastic deformation to tunable optical transmittance. 

In this Letter, we investigate the propagation of nonlinear pulses along the free surface of flexible metamaterials based on the rotating squares mechanism. While these metamaterials have previously been shown to support the propagation of elastic vector solitons through their bulk, here, we demonstrate that they can also support the stable propagation of nonlinear pulses along their free surface. Furthermore, we show that the stability of these surface pulses is higher when they minimally interact with the linear dispersive surface modes. Finally, we provide guidelines to select geometries that minimize these interactions. 

We introduce a class of ultra-light and ultra-stiff sandwich panels designed for use in photophoretic levitation applications and investigate their mechanical behavior using both computational analyses and micro-mechanical testing. The sandwich panels consist of two face sheets connected with a core that consists of hollow cylindrical ligaments arranged in a honeycomb-based hexagonal pattern. Computational modeling shows that the panels have superior bending stiffness and buckling resistance compared to similar panels with a basketweave core, and that their behavior is well described by Uflyand-Mindlin plate theory. By optimizing the ratio of the face sheet thickness to the ligament wall thickness, panels maybe obtained that have a bending stiffness that is more than five orders of magnitude larger than that of a solid plate with the same area density. Using a scalable microfabrication process, we demonstrate that panels as large as 3 × 3 cm2 with a volumetric density of 20 kg/m3 and corresponding area density of 2 g/m2 can be made in a few hours. Micro-mechanical testing of the panels is performed by deflecting microfabricated cantilevered panels using a nanoindenter. The experimentally measured bending stiffness of the cantilevered panels is in very good agreement with the computational results, demonstrating exquisite control over the dimensions, form, and properties of the microfabricated panels.