Supplemental data for: 4D printing of fully programmable sheets of digital metamaterials

We 3D print responsive continuous sheets composed of two layers, each consisting of active and passive voxels meticulously positioned to form thin structures that transform on demand. Our approach addresses a long-standing challenge in the field: the independent and simultaneous programming of lateral geometry and intrinsic curvature. This unprecedented control over the resulting shape unlocks new opportunities in synthetic shape-morphing materials.

We provide a general algorithmic approach that is material-agnostic and enables systematic design of shape transformations with potential capabilities for programmable mechanical properties and multi-actuation-mode systems and applications in soft robotics and deployable structures. This data includes the printed 3D files referenced in the paper. Each filename corresponds to the figure in which the structure appears.