Towards Arranging and Tightening Knots and Unknots with Fixtures.

This paper presents a controlled tying approach for knots using fixtures and simple pulling motions applied to the ends of string. Each fixture is specific to a particular knot; the paper gives a design process that allows a suitable fixture to be designed for an input knot. Knot tying is separated into two phases. In the first phase, a fixture is used to loosely arrange the string around a set of...