1. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Kinematic Analysis of Foldable Plate Structures With Rolling Joints J. Mechanisms Robotics. 2016;8(3):034502-034502-6. doi:10.1115/1.4032269 Two methods for enabling rigid origami with thickness from Tachi Figure Legend:

2. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Kinematic Analysis of Foldable Plate Structures With Rolling Joints J. Mechanisms Robotics. 2016;8(3):034502-034502-6. doi:10.1115/1.4032269 Rolling joints: (a) concept of rolling joints, (b) rolling joints connected with tapes, and (c) joints connected with cables Figure Legend:

3. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Kinematic Analysis of Foldable Plate Structures With Rolling Joints J. Mechanisms Robotics. 2016;8(3):034502-034502-6. doi:10.1115/1.4032269 A series of panels with rolling joints Figure Legend:

4. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Kinematic Analysis of Foldable Plate Structures With Rolling Joints J. Mechanisms Robotics. 2016;8(3):034502-034502-6. doi:10.1115/1.4032269 Foldable plate structures with rolling joints Figure Legend:

5. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Kinematic Analysis of Foldable Plate Structures With Rolling Joints J. Mechanisms Robotics. 2016;8(3):034502-034502-6. doi:10.1115/1.4032269 Basic elements of foldable plate structures Figure Legend:

6. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Kinematic Analysis of Foldable Plate Structures With Rolling Joints J. Mechanisms Robotics. 2016;8(3):034502-034502-6. doi:10.1115/1.4032269 Planar four-bar linkages: (a) plane four-bar linkage with traditional revolute joints, (b) plane four-bar linkage with rolling joints, and (c) schematic diagram of four-bar linkage with rolling joints Figure Legend:

7. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Kinematic Analysis of Foldable Plate Structures With Rolling Joints J. Mechanisms Robotics. 2016;8(3):034502-034502-6. doi:10.1115/1.4032269 Vector loop for a linkage Figure Legend:

8. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Kinematic Analysis of Foldable Plate Structures With Rolling Joints J. Mechanisms Robotics. 2016;8(3):034502-034502-6. doi:10.1115/1.4032269 Results of closure equations (r 1 = r 2 = r 3 = r 4 = 1.0) (a) θ 3 versus θ 1 and (b) θ 4 versus θ 1 Figure Legend:

9. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Kinematic Analysis of Foldable Plate Structures With Rolling Joints J. Mechanisms Robotics. 2016;8(3):034502-034502-6. doi:10.1115/1.4032269 Results of closure equations (r 1 = 0.5, r 2 = 1.0, r 3 = 1.5, r 4 = 2.0) (a) θ 3 versus θ 1 and (b) θ 4 versus θ 1 Figure Legend:

10. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Kinematic Analysis of Foldable Plate Structures With Rolling Joints J. Mechanisms Robotics. 2016;8(3):034502-034502-6. doi:10.1115/1.4032269 Results of closure equations (r 1 = 1.0, r 2 = 1.0, r 3 = 2.5, r 4 = 2.0) (a) θ 3 versus θ 1 and (b) θ 4 versus θ 1 Figure Legend:

11. Date of download: 7/11/2016 Copyright © ASME. All rights reserved. From: Kinematic Analysis of Foldable Plate Structures With Rolling Joints J. Mechanisms Robotics. 2016;8(3):034502-034502-6. doi:10.1115/1.4032269 Four-bar linkages with unequal lengths Figure Legend: