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

Area of Science:

• Robotics and Mechanical Engineering
• Materials Science and Engineering

Background:

• Variable stiffness actuation is crucial for applications like wearable haptics, soft robots, and surgical devices.
• Existing designs often lack sufficient load-carrying capacity, especially for flexural loads in slender devices.

Purpose of the Study:

• To present a novel design for slender, high flexural stiffness modules using fiber jamming.
• To enable variable stiffness control in bending applications.

Main Methods:

• Design of fiber jamming modules (FJMs) with axially packed fibers in an airtight envelope.
• Utilizing vacuum to transition modules from flexible to rigid states.
• Development of an analytical model for FJM design parameter selection.

Main Results:

• FJMs achieve up to eight times the flexural stiffness of particle jamming modules.
• FJMs allow stiffness control during bending in space, unlike layer jamming.
• Demonstrated versatility in applications including a haptic glove and programmable structures.

Conclusions:

• Fiber jamming offers a promising approach for creating slender, high-stiffness actuators.
• FJMs overcome limitations of previous variable stiffness designs, enabling new applications.
• The analytical model aids in the practical design and implementation of FJM technology.