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Bioinspired Soft Robot with Incorporated Microelectrodes
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Magnetically induced stiffening for soft robotics.

Leah T Gaeta1, Kevin J McDonald1, Lorenzo Kinnicutt1

  • 1Department of Mechanical Engineering, Boston University, Boston, MA 02215, USA. tranzani@bu.edu.

Soft Matter
|March 23, 2023
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Summary
This summary is machine-generated.

This study introduces a novel magnetically-controlled stiffening method for soft robots. This approach combines fast response times with portability, enhancing safety for human-robot interaction in wearable devices.

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft robots require variable stiffness for human-centric applications.
  • Existing methods like pneumatic jamming and thermal phase change have limitations in portability and response time.
  • Magnetorheological fluids offer potential for controllable stiffness.

Purpose of the Study:

  • To develop a magnetically-controlled variable stiffening mechanism for soft robots.
  • To combine the benefits of jamming-based stiffening with magnetorheological fluids.
  • To enable electronically controlled stiffness for safer human-robot interaction.

Main Methods:

  • A hybrid approach using magnetorheological fluid and jamming principles.
  • Investigating the effect of magnetic field strength on stiffening via fluid yield stress and magnet clamping.
  • Developing an analytical model to predict stiffness based on magnetic field strength.
  • Demonstrating electronic stiffness control using electropermanent magnets.

Main Results:

  • The proposed method successfully achieved variable stiffness in magnetorheological jamming beams.
  • Magnetic field strength was shown to significantly influence the stiffening effect.
  • An analytical model accurately predicted the stiffness response.
  • Electronic control of stiffness was demonstrated.

Conclusions:

  • Magnetically-controlled stiffening offers a promising solution for variable stiffness in soft robots.
  • This approach overcomes limitations of existing methods, enhancing portability and response time.
  • The developed mechanism is a step towards safer, electronically-driven soft robots for wearable applications.