A Novel Jamming Structure With Interlocking Mechanism Towards Applications in Wearable Robots

• Published in: IEEE robotics and automation letters Vol. 7; no. 3; pp. 6305 - 6312
• Main Authors: Zuo, Siyang, Li, Haoming, Hua, Zhichao, Liu, Jianbin, Chen, Baojun
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.07.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Bending; Bending stiffness; Forearm; Gear teeth; Gears; Human performance; interlocking mechanism; Jamming; Locking; Low vacuum; Maximum bending; Muscles; Prototypes; Robots; Shape; Stiffness; stiffness variation ratio; Torque; variable stiffness; Wearable robots; Wearable technology; Weight reduction; Wrist
• ISSN: 2377-3766; 2377-3766
• DOI: 10.1109/LRA.2022.3165859

The adoption of variable stiffness actuators allows robots to take advantages of both rigid and soft structures. Jamming based variable stiffness structures are receiving increased attentions due to advantages of light weight, easy fabrication, and so on. However, the maximum bending stiffness and s...