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. 2017 Mar 31;7:45671. doi: 10.1038/srep45671

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Copyright © 2017, The Author(s)

This work is licensed under a Creative Commons Attribution 4.0 International License. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in the credit line; if the material is not included under the Creative Commons license, users will need to obtain permission from the license holder to reproduce the material. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/

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Design hierarchy from a single unit actuator (E,F) to a tessellation of tetrahedral modules (G,H). (A,B) Shows the unit actuator. (C,D) Shows four serially connected actuators. Note that the bracket has the same geometry as the pin. (E,F) Shows the tetrahedron module and the global joints used to connect the members. (G,H) Shows the tiling of multiple tetrahedron units to demonstrate the deployment of a space frame. The three corners of the top tetrahedron each connect with the apex of the three lower tetrahedra.