Kinematics of paper pop-up folding

For my students:
There is a PDF in the "shared" folder on our Blackboard content collection group starting with "DETC..." I think of this paper as "linkages for babies." It's all about how to model paper pop-ups as mechanisms. It's a very visually understandable way to dip your toes into the great swimming pool of linkage kinematics. Students, have a read, and post your comments and questions. In particular, I would like your suggestions on how, as the authors imply, this material might be applied to devices for minimally invasive surgery.