Jamming as an enabling technology for soft robotics

E. Steltz; A. Mozeika; J. Rembisz; N. Corson; H. M. Jaeger

doi:10.1117/12.853182

9 April 2010 Jamming as an enabling technology for soft robotics

E. Steltz, A. Mozeika, J. Rembisz, N. Corson, H. M. Jaeger

Proceedings Volume 7642, Electroactive Polymer Actuators and Devices (EAPAD) 2010; 764225 (2010) https://doi.org/10.1117/12.853182
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2010, San Diego, California, United States

Abstract

This paper presents a new architecture in soft robotics that utilizes particulate jamming technology. A novel concept of actuation is described that utilizes jamming technology to modulate the direction and magnitude of the work performed by a single central actuator. Jamming "activators" modulate work by jamming and unjamming (solidifying and liquifying) a granular medium coupled to a core actuator. These ideas are demonstrated in the Jamming Skin Enabled Locomotion (JSEL) prototype which can morph its shape and achieve locomotion. Next, a new actuator, denoted a Jamming Modulated Unimorph (JMU), is presented in addition to the JSEL topology. The JMU uses a single linear actuator and a discrete number of jamming cells to turn the 1 degree of freedom (DOF) linear actuator into a multi DOF bending actuator. Full characterization of the JMU actuator is presented, followed by a concluding argument for jamming as an enabling mechanism for soft robots in general, regardless of actuation technology.

Citation Download Citation

E. Steltz, A. Mozeika, J. Rembisz, N. Corson, and H. M. Jaeger "Jamming as an enabling technology for soft robotics", Proc. SPIE 7642, Electroactive Polymer Actuators and Devices (EAPAD) 2010, 764225 (9 April 2010); https://doi.org/10.1117/12.853182

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