Fig. 5.

Inverse problem for getting any curved shape. (A and E) Target path. (B and F) Normalized target and rest curvature for a given path width $w$, ${\kappa }_{tar}$, and $1/R*$, as a function of the curvilinear coordinate $v*=v/w$. The portion of the target path plotted is highlighted in A by a dashed box. The curvature of the flat path is computed using the prediction for curvature change plotted in Fig. 4C, which is according to Eq. 4. (C and G) Flat path computed by the inverse model on top of a photograph of the experimental realization. (D and H) Same path under pressure fitting closely the target curve (Movies S3 and S4). (I) Manipulation of a mug. On inflation, the lightweight arm deforms along a predicted path within a few seconds, passing an obstacle to carry the mug on a platform (Movie S5).