Journal
SOFT ROBOTICS
Volume 9, Issue 1, Pages 173-186Publisher
MARY ANN LIEBERT, INC
DOI: 10.1089/soro.2019.0203
Keywords
fiber jamming; haptics; virtual; augmented reality; variable stiffness modeling
Categories
Funding
- Office of Naval Research Young Investigator Program [N00014-18-1-2277]
- National Science Foundation [1837662]
- Div Of Civil, Mechanical, & Manufact Inn
- Directorate For Engineering [1837662] Funding Source: National Science Foundation
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The article presents a design approach based on the principle of fiber jamming to create slender, high flexural stiffness modules. The proposed fiber jamming modules offer higher flexural stiffness compared to particle jamming modules, allowing for stiffness control while bending in space.
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 fiber jamming. 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.
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