Shape Morphing technologies currently rely on the straining of the underlying material (e.g. rubber in a pneunet), which is inherently limited, or on rotations of structural elements (as in pantographs, origami or kirigami), which lead to “locking” of the morphing mechanism. Thus, the morphing capacity is limited. Furthermore, morphing systems are not versatile, e.g. catheters have distinct sections where they can bend or thicken. A key challenge in this field is a balance between deformability and controllability.