Design of an Origami Bendy Straw for Robotic Multistable Structures

This article presents a soft cylindrical multistable origami structure based on “bendy straws,” consisting of multiple conical frusta mimicking the structure of a flexible drinking straw. These frusta are connected in such a way that the whole structure is axially multistable, having a stable compressed state in which its smallest frustum is collapsed. The bendy straw structure can also be modified so that the smallest frustum collapses only...