The first objective of this paper is to take an existing design for a shape-shifting surface (SSS) and make it waterproof, making it an effective barrier to fluid flow. The second objective is to minimize internal stresses in the device during operation, by optimizing the kinematic geometry of the SSS. The first objective was achieved by adding a waterproof membrane between the layers of the SSS, where the membrane had an origami fold pattern that enables the membrane to mimic the kinematics of the SSS. The second objective was achieved by creating a two objective optimization routine, which determined the kinematic geometry of the SSS which would minimize the internal stresses due to compression/tension of the flexure portion of the SSS during operation. The resulting SSS is easier to operate due to lower stresses, and has a membrane which prevents transverse fluid flow and mimics its motion.

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