E-Morph as a New Adaptive Actuator for Soft Robotics

Abstract

The paper presents an electromagnetically-controlled shape morphing composite (e-morph) as a new variable stiffness changing actuator for soft robotic applications. The structure is composed of a granular core and an outer shell made of silicon, with channels filled with liquid metal. Under an electromagnetic force, the actuator can change its shape in a controlled way, while the jamming mechanism allows the granules used in the core to maintain the desired shape and change their stiffness at a rate higher than 6. This paper provides a detailed description of the concept, empirical and simulation results of the samples tested. Finally, suggestions are made for initial applications using this actuator.