Page 384 - Control Theory in Biomedical Engineering

350 Control theory in biomedical engineering

Fig. 29 Hybrid Miura-collapsible crease pattern.

Fig. 30 Completed hybrid Miura-collapsible structure.

Fig. 31 Flexible bending and extension capabilities of the hybrid Miura-collapsible
structure.

exhibited smooth bending as well as compression and extension movements
without any involuntary twist (Fig. 31).
Furthermore, the collapsible nature (Fig. 32) derived from the previous
design also allowed us to achieve a variable stiffness mechanism.
As shown in Fig. 33, a part of the structure was fully extended while the
remaining part was kept flexible. We could suspend a load from the stiff part