Meeting Abstract
Biological muscles have the ability to quickly stiffen and hold large loads, two highly coveted traits for soft robotic actuators. Various techniques have been used to replicate the load-holding capability of muscle, from shape memory alloys to pneumatics to cable tension-based systems. When considering wearable technology applications, these techniques often fall short in either responsiveness or load limitations. Layer and granular jamming techniques can allow entirely soft robotic systems to conform and stiffen to environments, much like the soft and highly deformable bodies of various invertebrates. Layer jamming involves many sheaths of a thin material being compressed (commonly by vacuum), increasing the frictional resistance between the sheaths and stiffening the material. Layer jamming was recently used for stiffening a sheath for a snake-like continuum robot, with a focus on surgical robotics. In this experimental study, we investigate, develop, and demonstrate a new mechanism where layered sheaths are quickly stiffened through electrostatic pressure. Using layers of conductive and dielectric material, we vary the friction between the moving surfaces by varying applied voltage, thereby having the ability to quickly control bending stiffness, elongation, and other mechanical properties. The results of this project may provide unique force-feedback solutions for areas such as haptic feedback in virtual reality, or provide realistic muscle stiffening for bio-inspired robotics.
