At Makerfaire last Saturday I saw 3D printed shapes that had a fabric base so they were flexible. That lead me to self-folding shapes that use pre-tension on the fabric. From that I thought about using rubber as the printed part and combining that with pre-tension on the fabric. The result in the photo is a self-folding flower. It turns out we were not the first to think of the idea. Here is an excellent link to this technique.