Hysteresis of soft joints embedded with fluid-filled microchannels

Many arthropods are known to achieve dynamic stability during rapid locomotion on rough terrains despite the absence of an elaborate nervous system. While muscle viscoelasticity and its inherent friction have been thought to cause this passive absorption of energy, the role of embedded microstructures in muscles and muscle joints has not yet been investigated. Inspired by the soft and flexible hinge joints present in many of these animals, we have carried out displacement-controlled bending of thin elastic slabs embedded with fluid-filled microchannels. During loading, the slab bends uniformly to a critical curvature, beyond which the skin covering the channel buckles with a catastrophic decrease in load. In the reverse cycle, the buckled skin straightens out but at a significantly lower load. In such a loading-unloading cycle, this localized buckling phenomenon results in a dynamic change in the geometry of the joint, which leads to a significant hysteresis in elastic energy. The hysteresis varies nonlinearly with channel diameters and thicknesses of the slab, which is captured by a simple scaling analysis of the phenomenon.