Electrostatic Layer Jamming Variable Stiffness for Soft Robotics

摘要

A novel layer jamming variable stiffness technique for soft robotics is proposed in this paper, which we call electrostatic layer jamming (ELJ). The basic principle of the ELJ is using electrostatic attraction to squeeze material layers to generate friction and then engage jamming. Based on this technique, several specimens used in two common application scenarios including variable tensile stiffness and variable bending stiffness are fabricated, and their stiffness adjustment characteristics are investigated experimentally. Surprisingly, the test data are much larger than the theoretical prediction, which we think is because of the formation of local low air pressure regions between the contact surfaces. Also, the experimental results show that the ELJ technique possesses a large capability of stiffness changing and is space saving. The potential values of the ELJ have been shown by performing with a soft linear actuator for three representative practical applications in the soft robotic field. Finally, the existing problems and advantages of the ELJ technique are discussed, and we believe that this technique will inspire new ways and new opportunities for the soft robotic community.