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Kiriform allows for axisymmetric sheet assemblies to transform from 2D to 3D shapes through a carefully engineered buckling of curvilinear struts or fins. Several layers of shaped fins are connected such that the rotation of one set of fins (normally created from a single sheet) relative to its neighboring set of fins makes both sets buckle in a controlled and repeatable manner such that spherical or near-spherical shapes result . Each set of fins can be created from a single sheet thus allowing for inexpensive fabrication. There are only minimal hardware or weld connections between the sheets, and the main underlying the mechanism scale from the millimeter to the meter scale and beyond.Kiriform has the potential for a wide range of applications in need of dynamic and deployable adaptive systems that are fully flat in one condition.


MaP+S Group : Saurabh Mhatre, Martin Bechthold.

Harvard GSD : Olga Mesa, Milena Stavric, Kelly Hess, Zach Seibold,  Jonathan Grinham, Allen Sayegh, 

Bertoldi Group (Harvard SEAS): Elisa Boatti, David Melancon, Maxime Dupont, Ahmad Zareei, Katia Bertoldi.

Harvard Micro Robotics Group (Harvard SEAS):  Daniel Vogt , Ruth Pena Velasco, Rob Wood.


Mhatre, S., Bechthold, M., & Sayegh, A. ” Deployable Kiriform Flexures “. Patent No. US20200231430, 2020 ( Link  )

2023_07_11 Kiriform patent issued .png


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