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The 1D contraction of the LCE strips activates in-plane and out-of-plane deformations; these deformations are both necessary to transform a flat surface into arbitrary 3D geometries. We characterize the fundamental deformation response of the layers and derive a control scheme for actuation. We demonstrate that the robotic surface provides sufficient mechanical stiffness and stability to manipulate other objects. This approach has potential to address the needs of a range of applications beyond shape changes, such as human-robot intera
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