{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T20:06:48Z","timestamp":1780430808092,"version":"3.54.1"},"reference-count":67,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T00:00:00Z","timestamp":1766102400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100000181","name":"Florida International University","doi-asserted-by":"publisher","award":["FA9550-19-1-029"],"award-info":[{"award-number":["FA9550-19-1-029"]}],"id":[{"id":"10.13039\/100000181","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Lamina Emergent Torsional (LET) arrays can be used to replace creases in origami-based mechanisms. They can be made of planar materials, which makes them compatible with many designs. However, LET arrays can take up a lot of area and can exhibit significant parasitic motion, which makes them less ideal for some applications, such as in origami-based robotics and deployable space structures. This work presents a compact variation of the conventional LET array, which resolves these issues. An experimental method for fabricating these compact LET arrays, or C-LET arrays, from carbon fiber-reinforced polymer is given. Deflection models for C-LET array torsion segments, with and without interference with other torsion segments, are given. Bending stress and shear stress equations are provided, and the deflection models are combined into a final model that can solve for the deflections of multiple torsion segments in series. The concepts described are demonstrated in a prototype origami-based deployable reflectarray incorporating C-LET arrays. The prototype demonstrates that C-LET arrays provide the desired motion while maximizing the usable area of the deployable reflectarray.<\/jats:p>","DOI":"10.3390\/robotics15010001","type":"journal-article","created":{"date-parts":[[2025,12,19]],"date-time":"2025-12-19T11:03:46Z","timestamp":1766142226000},"page":"1","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Compact LET Arrays for Origami-Based Mechanisms"],"prefix":"10.3390","volume":"15","author":[{"given":"Luke Q.","family":"Gardner","sequence":"first","affiliation":[{"name":"Compliant Mechanisms & Robotics Research Group, Department of Mechanical Engineering, Brigham Young University, Provo, UT 84602, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6406-6047","authenticated-orcid":false,"given":"Katie","family":"Varela","sequence":"additional","affiliation":[{"name":"Compliant Mechanisms & Robotics Research Group, Department of Mechanical Engineering, Brigham Young University, Provo, UT 84602, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8132-8822","authenticated-orcid":false,"given":"Larry L.","family":"Howell","sequence":"additional","affiliation":[{"name":"Compliant Mechanisms & Robotics Research Group, Department of Mechanical Engineering, Brigham Young University, Provo, UT 84602, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Spencer P.","family":"Magleby","sequence":"additional","affiliation":[{"name":"Compliant Mechanisms & Robotics Research Group, Department of Mechanical Engineering, Brigham Young University, Provo, UT 84602, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,12,19]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"3221","DOI":"10.2514\/1.J058778","article-title":"Self-deployable, self-stiffening, and retractable origami-based arrays for spacecraft","volume":"58","author":"Pehrson","year":"2020","journal-title":"AIAA J."},{"key":"ref_2","unstructured":"Rivera, A., and Stewart, A. 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