Abstract: Inverse origami design for soft robotic development is described herein. A method as described herein can include determining, by a system comprising a processor, shape parameters corresponding to an input shape; generating, by the system based on the shape parameters, an origami crease pattern representative of the input shape, wherein the origami crease pattern comprises respective origami cell units, and wherein the origami crease pattern is defined by a group of vector size parameters corresponding to relative fold lengths associated with the respective origami cell units, a vector angle parameter corresponding to fold angles associated with the respective origami cell units, and a scalar cell height parameter; and imprinting, by the system, the origami crease pattern onto a tangible medium.

Abstract: An articulated finger. The articulated finger comprises a first phalange; a second phalange; a self-locking joint coupling the first phalange to the second phalange, wherein the self-locking joint is configured to allow motion in a first rotational direction of the first phalange relative to the second phalange and prevent motion in a second rotational direction of the first phalange relative to the second phalange, wherein the first rotational direction is opposite the second rotational direction; and a compliant actuator configured to actuate the first phalange in the first rotational direction relative to the second phalange.