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Proceedings Paper

Jamming as an enabling technology for soft robotics
Author(s): E. Steltz; A. Mozeika; J. Rembisz; N. Corson; H. M. Jaeger
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Paper 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.

Paper Details

Date Published: 9 April 2010
PDF: 9 pages
Proc. SPIE 7642, Electroactive Polymer Actuators and Devices (EAPAD) 2010, 764225 (9 April 2010); doi: 10.1117/12.853182
Show Author Affiliations
E. Steltz, iRobot Corp. (United States)
A. Mozeika, iRobot Corp. (United States)
J. Rembisz, iRobot Corp. (United States)
N. Corson, iRobot Corp. (United States)
H. M. Jaeger, The Univ. of Chicago (United States)

Published in SPIE Proceedings Vol. 7642:
Electroactive Polymer Actuators and Devices (EAPAD) 2010
Yoseph Bar-Cohen, Editor(s)

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