In robotics, the emerging field of electronic textiles and fiber-electronics represents a shift in morphology from hard and rigid mechatronic components toward a soft-architecture�and more specifically, a flexible planar surface morphology. It is thus essential to determine how a robotic system might actuate flexible surfaces for donning and doffing actions. Zipperbot is a robotic continuous closure system for joining fabrics and textiles. By augmenting traditional apparel closure techniques and hardware with robotic attributes, we can incorporate these into robotic systems for surface manipulation. Through actuating closures, textiles could shape-shift or self-assemble into a variety of forms.