Design of origami structures with curved tiles between the creases

An efficient way to introduce elastic energy that can bias an origami structure toward desired shapes is to allow curved tiles between the creases. The bending of the tiles supplies the energy and the tiles themselves may have additional functionality. In this paper, we present the theorem and systematic design methods for quite general curved origami structures that can be folded from a flat sheet, and we present methods to accurately find the stored elastic energy. Here the tiles are allowed to undergo curved isometric mappings, and the associated creases necessarily undergo isometric mappings as curves. These assumptions are consistent with a variety of practical methods for crease design. The h^3 scaling of the energy of thin sheets (h = thickness) spans a broad energy range. Different tiles in an origami design can have different values of h, and individual tiles can also have varying h. Following developments for piecewise rigid origami, we develop further the Lagrangian approach and the group orbit procedure in this context. We notice that some of the simplest designs that arise from the group orbit procedure for certain helical and conformal groups provide better matches to the buckling patterns observed in compressed cylinders and cones than known patterns.