Waxpaper Actuator: Sequentially and Conditionally Programmable Wax Paper for Morphing Interfaces.
Abstract: We print wax on the paper and turn the composite into a sequentially-controllable, moisture-triggered, rapidly-fabricated, and low-cost shape-changing interface. This technique relies on a sequential control method that harnesses two critical variables: gray levels and water amount. By integrating these variables within a bilayer structure, composed of a paper substrate and wax layer, we produce a diverse wax pattern using a solid inkjet printer. These patterns empower wax paper actuators with rapid control over sequential deformations, harnessing various bending degrees and response times, which helps to facilitate the potential of swift personal actuator customization. Our exploration encompasses the material mechanism, the sequential control method, fabrication procedures, primitive structures, and evaluations. Additionally, we introduce a user-friendly software tool for design and simulation. Lastly, we demonstrate our approach through applications across four domains: agricultural seeding, interactive toys and art, home decoration, and electrical control.
Application demonstrations. (a) Seed Dispenser: Enables automated soil seeding in natural environments; (b) Morphing Flower: Features petals with varying gray levels that bloom sequentially; (c) Morphing Cicada: A laser-cut cicada toy with wings that morph sequentially; (d) Morphing Lampshade: Crafted from wax paper, responsive to spatial moisture; (e) Waxpaper Actuator as a Switch: Demonstrates versatility as an electrical circuit switch.