The capability of stiffness manipulation for materials and structures is essential for tuning motion, saving energy, and delivering high power. However, high-efficiency in situ stiffness manipulation has not yet been successfully achieved despite many studies from different perspectives. Here, curved origami patterns were designed to accomplish in situ stiffness manipulation covering positive, zero, and negative stiffness by activating predefined creases on one curved origami pattern. This elegant design enables in situ stiffness switching in lightweight and space-saving applications, as demonstrated through three robotic-related components. Under a uniform load, the curved origami can provide universal gripping, controlled force transmissibility, and multistage stiffness response. This work illustrates an unexplored and unprecedented capability of curved origami, which opens new applications in robotics for this particular family of origami patterns.

材料和结构的刚度操纵能力对于调整运动，节省能量和传递高功率至关重要。然而，尽管从不同角度进行了许多研究，但尚未成功实现高效的原位刚度操纵。在这里，弯曲的折纸图案设计为通过激活一个弯曲的折纸图案上的预定折痕来完成覆盖正，零和负刚度的原位刚度操纵。通过三个与机器人相关的组件，这种优雅的设计可在轻巧和节省空间的应用中实现原位刚度转换。在均匀的载荷下，弯曲的折纸可提供通用的抓握力，可控制的力传递性和多级刚度响应。