Abstract-- Soft robots employing compliant materials and deformable structures offer great potential for wearable devices that are comfortable and safe for human interaction. However, achieving both structural integrity and compliance for comfort remains a significant challenge. In this study, we present a novel fabrication and design method that combines the advantages of origami structures with the material programmability and wearability of knitted fabrics. We introduce a general design method that translates origami patterns into knit designs by programming both stitch and material patterns. The method creates folds in preferred directions while suppressing unintended buckling and bending by selectively incorporating heat fusible yarn to create rigid panels around compliant creases. We experimentally quantify folding moments and show that stitch patterning enhances folding directionality while the heat fusible yarn (1) keeps geometry consistent by reducing edge curl and (2) prevents out-of-plane deformations by stiffening panels. We demonstrate the framework through the successful reproduction of complex origami tessellations, including Miura-ori, Y oshimura, and Kresling patterns, and present a wearable knitted Kaleidocycle robot capable of locomotion. The combination of structural reconfigurability, material programmability, and potential for manufacturing scalability highlights knitted origami as a promising platform for next-generation wearable robotics. I. INTRODUCTION Soft robots operate effectively in human environments by conforming to their surroundings using their material compliance [1], [2], [3].

Yoder recommends printing the pattern on paper in between normal printer paper and cardstock in weight, making sure it folds in straight lines (not too thick), folds back and forth easily on the same line (not too thin), and is crisp enough to make a satisfying snapping noise when you shake it. Her favorite paper isSkytone, which is commonly used to print certificates and fancy envelopes. Once you have your crease pattern on a sheet of paper, cut out the hexagon that contains the pattern. Yoder recommends using a straightedge and blade on a cutting mat instead of scissors, whether that means an X-Acto knife and a ruler on a sheet of cardboard or a quilting ruler and rotary cutter on a fabric cutting mat. The next step is folding the background grid of black lines that the pattern uses as references. Assuming you've cut out your hexagon precisely, you can use the edge of the hexagon and the printed lines to make your creases, or you can fold as if there were no lines printed by folding the hexagon in half (edge to opposite edge) and then folding those edges in to the center to make quarter lines, first in one direction and then in the other two.