Variable stiffness strip with strain sensing for wearable robotics

Variable stiffness technologies help to solve the conflicting requirements of strength, comfort, and safety in soft exoskeletons. Here, we propose a modular variable stiffness strip based on layer jamming as a mechanical solution to constrain users' degrees of freedom and/or to implement wearable anchor points. Equipped with integrated capacitive strain sensors in the longitudinal direction, the strip is 30 mm wide and 3 mm thick and has a modular design that enables its adaptability to different morphologies and force requirements. If negative pressure in the order of tens of KPa is applied, the strip undergoes a stiffness change by a factor of 600, thus ranging between stretchability typical of elastane and inextensibility up to a maximum resisting force of 60 N. The versatility of the strip is shown by integration in an upper body exosuit.

Published in:
Presented at:
2018 IEEE International Conference on Soft Robotics (RoboSoft), Livorno, April 24-28, 2018
Jul 09 2018
Other identifiers:

Note: The status of this file is: EPFL only

 Record created 2019-01-21, last modified 2019-03-16

Rate this document:

Rate this document:
(Not yet reviewed)