التفاصيل البيبلوغرافية
| العنوان: |
Variable Stiffness Devices Using Fiber Jamming for Application in Soft Robotics and Wearable Haptics. |
| المؤلفون: |
Jadhav S; Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, California, USA., Majit MRA; Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, California, USA., Shih B; Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, California, USA., Schulze JP; Department of Computer Science and Engineering, California Institute of Telecommunications and Information Technology, University of California, San Diego, La Jolla, California, USA., Tolley MT; Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, California, USA. |
| المصدر: |
Soft robotics [Soft Robot] 2022 Feb; Vol. 9 (1), pp. 173-186. Date of Electronic Publication: 2021 Feb 10. |
| نوع المنشور: |
Journal Article; Research Support, Non-U.S. Gov't |
| اللغة: |
English |
| بيانات الدورية: |
Publisher: Mary Ann Liebert, Inc Country of Publication: United States NLM ID: 101623819 Publication Model: Print-Electronic Cited Medium: Internet ISSN: 2169-5180 (Electronic) Linking ISSN: 21695172 NLM ISO Abbreviation: Soft Robot Subsets: MEDLINE |
| أسماء مطبوعة: |
Original Publication: New Rochelle, NY : Mary Ann Liebert, Inc., [2014]- |
| مواضيع طبية MeSH: |
Robotics* , Wearable Electronic Devices*, Equipment Design ; Haptic Technology |
| مستخلص: |
Variable stiffness actuation has applications in a wide range of fields, including wearable haptics, soft robots, and minimally invasive surgical devices. There have been numerous design approaches to control and tune stiffness and rigidity; however, most have relatively low specific load-carrying capacities (especially for flexural loads) in the most rigid state that restricts their use in small or slender devices. In this article, we present an approach to the design of slender, high flexural stiffness modules based on the principle of fiber jamming . The proposed fiber jamming modules (FJMs) consist of axially packed fibers in an airtight envelope that transition from a flexible to a rigid beam when a vacuum is created inside the envelope. This FJM can provide the flexural stiffness of up to eight times that of a particle jamming module in the rigid state. Unlike layer jamming modules, the design of FJMs further allows them to control stiffness while bending in space. We present an analytical model to guide the parameter choices for the design of fiber jamming devices. Finally, we demonstrate applications of FJMs, including as a versatile tool, as part of a kinesthetic force feedback haptic glove and as a programmable structure. |
| فهرسة مساهمة: |
Keywords: fiber jamming; haptics; variable stiffness modeling; virtual/augmented reality |
| تواريخ الأحداث: |
Date Created: 20210211 Date Completed: 20220421 Latest Revision: 20220421 |
| رمز التحديث: |
20240628 |
| DOI: |
10.1089/soro.2019.0203 |
| PMID: |
33571060 |
| قاعدة البيانات: |
MEDLINE |
