Variable Stiffness Devices Using Fiber Jamming for Application in Soft Robotics and Wearable Haptics.

Journal: Soft robotics
Published Date: Feb 10, 2021

Abstract

Variable stiffness actuation has applications in a wide range of fields, including wearable haptics, soft robots, and minimally invasive surgical devices. There have been numerous design approaches to control and tune stiffness and rigidity; however, most have relatively low specific load-carrying capacities (especially for flexural loads) in the most rigid state that restricts their use in small or slender devices. In this article, we present an approach to the design of slender, high flexural stiffness modules based on the principle of . The proposed fiber jamming modules (FJMs) consist of axially packed fibers in an airtight envelope that transition from a flexible to a rigid beam when a vacuum is created inside the envelope. This FJM can provide the flexural stiffness of up to eight times that of a particle jamming module in the rigid state. Unlike layer jamming modules, the design of FJMs further allows them to control stiffness while bending in space. We present an analytical model to guide the parameter choices for the design of fiber jamming devices. Finally, we demonstrate applications of FJMs, including as a versatile tool, as part of a kinesthetic force feedback haptic glove and as a programmable structure.

Authors

  • Saurabh Jadhav
    Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, California, USA.
  • Mohamad Ramzi Abdul Majit
    Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, California, USA.
  • Benjamin Shih
    Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA, USA.
  • Jürgen P Schulze
    Department of Computer Science and Engineering, California Institute of Telecommunications and Information Technology, University of California, San Diego, La Jolla, California, USA.
  • Michael T Tolley
    Department of Mechanical and Aerospace Engineering, University of California, San Diego, 9500 Gilman Drive, La Jolla, California 92093-0403.

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