Soft actuators

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These four actuators are inspired by origami. They work as soft engines for a given mechanism. They are entirely 3D printed on a conventional desktop printer.
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My mind went to an inappropriate place

sapiosuicide
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Is there any guide on how to build these? What materials did you use?

ottovolante
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These look like the origami inspired actuators people probably won't understand you but it's high time to move to some other scientific field that can use your mechanical engineering skills.

FLORIDIANMILLIONAIRE