Underactuated fluidic control of continuous multistable structures

This work addresses the challenge of underactuated pattern generation in continuous multistable structures. The examined structure is a slender membrane, actuated by a viscous fluid, which can concurrently sustain two different equilibria states, separated by transition regions. We first demonstrate the formation and motion of a single transition region and then sequencing of several such moving transition regions to achieve arbitrary patterns by controlling the inlet pressure of the actuating fluid. Finally, we show that non-uniform membrane properties, along with the transient dynamics of the fluid, can be leveraged to directly control any segment of the membrane.