Morphing Voxel: Development of the Physical Programmable Matter Composed of Distributed Self-Folding Origami Modules

Abstract

Developing programmable matter in material world is a challenging issue. This thesis presents a new programmable shape-changing system that is lightweight, and compact composed of distributed morphing voxel. Mobility of the system is generated by a multitude of identical units, so that the integrated system can make and change into specific shapes. Morphing Voxel can generate the dimensional variation between 3-D cubic block and 2-D flat sheet like physical 3-D pixel by designing simple origami pattern and embedding low-profile actuator. Single voxel has 30 mm side length, weighs 2.2 g, and takes average 3 to 4 seconds for single transformation. By separating the system with actuation unit–Morphing Voxel–and infrastructure–base layer–, the system have more freedom to the system in rearrangement, replacement, and repairing of the unit. The thesis presents a design and fabrication method of the morphing voxel for compact shape-changing system as a way of building programmable matter in physical world. Also, the thesis contains demonstration of the concept with 4×4 matrix form arrangement, and made 5×3 tangible letter shifting display. In future, this system can be used as a shape-change platform for multi-functional devices e. g. haptic interface, 3-D morphing map, and tangible display.