US Patent 11173666 Additive manufacturing of deformable objects

Described are techniques for additive manufacturing of deformable objects. The techniques including a method comprising generating printing parameters for a deformable component. The method further comprises fabricating the deformable component by additive manufacturing, where a smart material is located at an articulation point of the deformable component, and where a base material is located at a static portion of the deformable component. The method further comprises supplying an environmental stimulus to the deformable component that causes the deformable component to transition from a first state to a second state.