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Summary I created a jointed hinge-type device to tie shoelaces. There are some shoe lacing devices like Klots (quick shoe ties). But, after some use, they can be detached or broken when you are walking or running.
So I made it stronger, not untied, and more flexible by using hinge-like(cylindrical) joints.
When you also use other devices, to finish lacing shoes, you should tuck in your shoelace underneath the sole or cut the ends of the shoelace. I present how to tie shoes with my device, without tucking in or cutting shoelaces: video
Print Settings : No Supports, 0.2mm layer thickness, 100% Infill