Page 385 - Control Theory in Biomedical Engineering

Tunable stiffness using negative Poisson's ratio 351

Fig. 32 (A) Collapsible structure; (B) Load-bearing ability of the structure.

Fig. 33 Variable stiffness along the structure.

without the structure deforming or collapsing. The end of the tube was still
flexible and compliant, showing that we can achieve a means of selective
variable stiffness.

7.2.3 Waterbomb tube
Another successful design allowed us to combine variable stiffness with actu-
ation in a single structure. The simplest waterbomb base crease pattern and
fold design is as shown in Fig. 34.