Check out our newest paper published in IEEE T-RO, where we provide an algorithm for automatically converting a DH specification for an arbitrary serial linkage into an origami design.
Kinegami: Algorithmic Design of Compliant Kinematic Chains From Tubular Origami. In: IEEE Transactions on Robotics, vol. 39, iss. 2, pp. 1260-1280, 2023, (Honorable mention for 2023 IEEE Transactions on Robotics King-Sun Fu Memorial Best Paper Award).
Full paper at: https://doi.org/10.1109/TRO.2022.3206711