Non-planar shearing auxetic structures, devices, and methods

A composite structure, comprising:

• a plurality of differently-handed shearing auxetic structures that each form a non-planar shape, each shearing auxetic structure including:
• a plurality of handed tiles repeating over a surface of the respective non-planar shape;
• the plurality of handed tiles each including a plurality of elements connected together with a pivot joint;
• and
• the plurality of handed tiles being connected to one another by pivot joints;
• wherein the plurality of differently-handed shearing auxetic structures lock against one another to form a semi-rigid or rigid structure.

An actuator, comprising:

• at least one pair of shearing auxetic structures, wherein each pair includes at least one structure that shears toward the left and one structure that shears toward the right;
• and
• at least one rotary driver coupled to first ends of each structure in the at least one pair of shearing auxetic structures;
• wherein second ends of each structure in the at least one pair of shearing auxetic structures are rigidly coupled to one another;
• and
• wherein the at least one rotary driver transfers opposing torques onto each structure in the at least one pair of shearing auxetic structures.

An actuator, comprising:

• a plurality of pairs of differently-handed shearing auxetic structures;
• and
• a plurality of rotary drivers configured to apply torque to at least one of the shearing auxetic structures;
• wherein first ends of each shearing auxetic structure in the plurality of pairs are rigidly coupled to one another.