Programmable Digital Weaves

Abstract

Elastic lattice-like materials whose structures can be tuned to achieve desired mechanical properties hold great promise for many applications in robotics. However, existing methods rely on all-fused connections at lattice nodes, which limits the range of mechanical properties that can be achieved. In this work, we introduce Programmable Digital Weaves—3D-printable, textile-like materials with sliding connections that mimic the yarn structure of conventional woven fabrics. Our method allows for relative motion between crossing strands, thus unlocking a large space of programmable nonlinear and anisotropic material behavior. As we demonstrate through a set of virtual and physical experiments, this new concept extends to a wide variety of patterns, ranging from regular arrangements of orthogonal strands similar to conventional woven fabrics to curved yarns, interlacing closed loops, and dedicated strands for actuation.