Second-order prestress stability and third-order rigidity of polyhedral surfaces

There has been a longstanding confusion on the proper definition of higher order rigidity and flexibility in geometric constraint systems.

Recently, an energy-based formulation of higher-order rigidity was introduced by Steven Gortler, Miranda Holmes-Cerfon, and Louis Theran (2025).

In this article, we apply the framework to polyhedral surfaces and introduce new criteria for testing second-order prestress stability and third-order rigidity.

Furthermore, we present comprehensive case studies of polyhedral surfaces exhibiting different levels of higher-order shakiness.

These results advance the understanding of higher-order rigidity and flexibility in origami-inspired structures, which are also applicable to a broad class of near-mechanisms.

Clarifying the transition from higher-order flexibility to finite mechanisms opens new directions for both theoretical investigation and mechanism design.