Control of Folding Deformation in a Multi-Degree-of-Freedom Kiri-Origami Structure

We report a method for controlling the folding deformation of kiri-origami structures with multiple degrees of freedom (DOFs). Kiri-origami structures, which integrate folding lines into kirigami structures, have well-defined DOFs, and the deformation can be controlled by the angle at which folding lines fold up. While the kiri-origami structure with multiple DOFs can be deformed into various shapes, control of their folding deformation remains challenging. In this study, we achieve deformation control by varying the angle between the folding lines, which shifts the folding timing between the target lines and the remaining lines. Our proposed method enables programmable folding behavior without additional actuators or complex control schemes and is expected to contribute to applications in deployable structures, flexible electronics, and soft robotics, where precise folding behavior enhances functionality and performance.