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On-line Access: 2022-04-22
Received: 2022-04-22
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Principles and methods for stiffness modulation in soft robot design and development
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Yang Yang, Yingtian Li, Yonghua Chen. Principles and methods for stiffness modulation in soft robot design and development[J]. Journal of Zhejiang University Science D, 2018, 1(1): 14-25.
@article{title="Principles and methods for stiffness modulation in soft robot design and development",
author="Yang Yang, Yingtian Li, Yonghua Chen",
journal="Journal of Zhejiang University Science D",
volume="1",
number="1",
pages="14-25",
year="2018",
publisher="Zhejiang University Press & Springer",
doi="10.1007/s42242-018-0001-6"
}
%0 Journal Article
%T Principles and methods for stiffness modulation in soft robot design and development
%A Yang Yang
%A Yingtian Li
%A Yonghua Chen
%J Journal of Zhejiang University SCIENCE D
%V 1
%N 1
%P 14-25
%@ 1869-1951
%D 2018
%I Zhejiang University Press & Springer
%DOI 10.1007/s42242-018-0001-6
TY - JOUR
T1 - Principles and methods for stiffness modulation in soft robot design and development
A1 - Yang Yang
A1 - Yingtian Li
A1 - Yonghua Chen
J0 - Journal of Zhejiang University Science D
VL - 1
IS - 1
SP - 14
EP - 25
%@ 1869-1951
Y1 - 2018
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1007/s42242-018-0001-6
Abstract: Compared to traditional rigid robots, soft robots, primarily made of deformable, or less rigid materials, have good adaptability, conformability and safety in interacting with the environment. Although soft robots have shown great potentials for extended applications and possibilities that are impossible or difficult for rigid body robots, it is of great importance for them to have the capability of controllable stiffness modulation. Stiffness modulation allows soft robots to have reversible change between the compliant, or flexible state and the rigid state. In this paper, we summarize existing principles and methods for stiffness modulation in soft robotic development and divide them into four groups based on their working principles. Acoustic-based methods have been proposed as the potential fifth group in stiffness modulation of soft robots. Initial design proposals based on the proposed acoustic method are presented, and challenges in further development are highlighted.
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