Science Robotics

Supplementary Materials

The PDF file includes:

  • Note S1. Dual morphing in nature
  • Note S2. Design comparison between dual-morphing stretchable origami and conventional origami
  • Note S3. Scaling relationship of dual-morphing stretchable origami
  • Note S4. Parent origami frames and structural modification
  • Note S5. Analytic evaluation of the deployment behavior of a Miura-ori polyhedron
  • Note S6. Definition of the module, deployment ratio (λ), and angle (ϕ) of the dual-morphing M-ori
  • Fig. S1. Layer molds and a stacking order for three different dual-morphing origami architectures.
  • Fig. S2. Fabrication process of dual-morphing origami architectures: A layer stacking method.
  • Fig. S3. Scaling relationship of dual-morphing stretchable origami.
  • Fig. S4. Parent origami frames and arrangement of dual-morphing stretchable origami unit cells.
  • Fig. S5. Kinematics of pelican eel and dual-morphing P-ori.
  • Fig. S6. Comparison between conventional fluidic bending actuators and M-ori.
  • Fig. S7. Parametric study of dual-morphing M-ori.
  • Fig. S8. Geometry-dominant, origami-like morphing of dual-morphing M-ori with different α values.
  • Fig. S9. Dynamic behavior of the two-module M-ori.
  • Fig. S10. Strain-dominant soft robotic morphing of dual-morphing M-ori with programmed material disposition.
  • Fig. S11. Deployment ratio (λ) and angle (ϕ) of dual-morphing M-ori.
  • Fig. S12. Tip force of the six-module inner bending M-ori.
  • Fig. S13. A dual-morphing M-ori gripper.
  • Fig. S14. Architecture of material stiffness distribution in the soft robotic eye tentacle.
  • Fig. S15. Dual-morphing Y-ori with programmability.
  • Fig. S16. A dual-morphing human-interactive soft robot.

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Other Supplementary Material for this manuscript includes the following:

  • Movie S1 (.mp4 format). Dual-morphing behavior of a pelican eel.
  • Movie S2 (.mp4 format). Pelican eel–like morphing of a stretchable origami fish base.
  • Movie S3 (.mp4 format). Dual-morphing stretchable M-ori.
  • Movie S4 (.mp4 format). Deployable soft gripper.
  • Movie S5 (.mp4 format). Dual-morphing stretchable M-ori in the ground.
  • Movie S6 (.mp4 format). Deployable soft crawler.
  • Movie S7 (.mp4 format). Underwater soft tentacle.
  • Movie S8 (.mp4 format). Dual-morphing stretchable Y-ori.
  • Movie S9 (.mp4 format). Dual-morphing human-interactive soft robot for hugging.
  • Movie S10 (.mp4 format). Dual-morphing stretchable Y-ori soft caging gripper.
  • Movie S11 (.mp4 format). Layer mold stacking method.

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