Date of download: 10/25/2017 Copyright © ASME. All rights reserved. From: Origami Actuator Design and Networking Through Crease Topology Optimization J. Mech. Des. 2015;137(9):091401-091401-10. doi:10.1115/1.4030876 Figure Legend: Comparison of actuating mechanisms via prototypes made from PP sheeting (Grafix Plastics, Cleveland, OH). Fold patterns were laser machined into matte and smooth finish PP sheets of thickness ranging from 400 to 1100 μm. Scoring was performed on an laser engraver epilog helix 24 using a laser intensity of 30 W and speed of 35 mm/s. (a) and (b) Coupled spherical 4-bar Chomper and (c) and (d) four spherical 4-bar coupled through a 6-bar mechanism.