PaTS-Wheel

Not my model. Created from a still on this video:

(***update, They've added the STL to the video! Thanks, @TTAC)
https://www.youtube.com/watch?v=oZbZZlDDEnc&t=90s

Please refer to the original authors for details. Happy to take this down if there is some conflict!
*Edit: updated with clearer hinge clearance and nut mount for my RC car :D
*Edit 2: trimmed hinges, lowered the nut depth for the RC car hub, and added a recess to avoid rubbing.
*Edit 3: added original from video.

Printed in TPU to get the flexibility! (or use as a base to redesign! Link me if you do a less lazy job!)

Credit:
T. Godden*, B. W. Mulvey*, E. Redgrave and T. Nanayakkara, “PaTS-Wheel: A Passively-Transformable Single-Part Wheel for Mobile Robot Navigation on Unstructured Terrain,” IEEE Robotics and Automation Letters, 2024.
Link to paper: https://ieeexplore.ieee.org/document/...
Digital Object Identifier: 10.1109/LRA.2024.3389828

Abstract:
Most mobile robots use wheels that perform well