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The range is one of the measures of variation. It can be defined as the difference between a dataset's highest and lowest values. For example, in the study of seven 16-ounce soda cans, the filled volume of soda was measured, thus producing the following amount (in ounces) of soda:
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Four-Dimensional Printing of Stimuli-Responsive Hydrogel-Based Soft Robots
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A soft continuum robot, with a large variable-stiffness range, based on jamming.

Yanzhi Zhao1, Yu Shan, Jie Zhang

  • 1Key Laboratory of Parallel Robot and Mechatronic System, Yanshan University, Qinhuangdao, Hebei Province, People's Republic of China.

Bioinspiration & Biomimetics
|August 21, 2019
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Summary
This summary is machine-generated.

This study introduces a novel self-locking soft continuum robot with adjustable stiffness using particle and fiber jamming. The robot demonstrates significant adaptability, achieving a maximum bending angle of 108° for various applications.

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Human hands exhibit remarkable dexterity through continuous stiffness changes.
  • Existing soft continuum robots often lack a wide variable-stiffness range for diverse applications.

Purpose of the Study:

  • To propose a self-locking soft continuum robot with a large variable-stiffness range.
  • To investigate the robot's adaptability and self-locking mechanisms.
  • To introduce a new metric for evaluating soft robot adaptability.

Main Methods:

  • Utilizing particle jamming and fiber jamming for variable stiffness.
  • Developing an analysis model to determine self-locking conditions.
  • Conducting adaptability experiments to measure bending angles and assess performance.

Main Results:

  • The robot achieves a large variable-stiffness range due to particle and fiber properties.
  • Self-locking occurs at a deflection angle of approximately 0.17 rad.
  • Experimental prototypes reached a maximum stiffness of 1223.58 N m⁻¹, with a maximum bending angle of 108°.

Conclusions:

  • The proposed robot effectively mimics human hand stiffness control.
  • The self-locking mechanism and variable stiffness enhance robotic adaptability.
  • The new 'adaptive intensity' index provides a valuable measure for soft robot performance.