Jamming Skins that Control System Rigidity from the Surface
Jamming Skins that Control System Rigidity from the Surface
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DOI：
10.1002/adfm.202006915
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发表时间：
2020-09
影响因子：
19
通讯作者：
Dylan S. Shah;Ellen J. Yang;Michelle C. Yuen;Evelyn C. Huang;Rebecca Kramer‐Bottiglio
中科院分区：
文献类型：
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作者：
Dylan S. Shah;Ellen J. Yang;Michelle C. Yuen;Evelyn C. Huang;Rebecca Kramer‐Bottiglio
许多动物在自然运动中调整它们的僵硬以提高效率或环境适应性。例如，章鱼会使它们的触须变硬，以提高伸手时的效率，还有一些章鱼会调整它们的腿的硬度，以在不同的地形上奔跑时保持稳定。受大自然的启发，可变刚度机器可以在刚性和软状态之间切换。然而，现有的变刚度系统通常是专门为特定应用而构建的，缺乏普遍的适应性。在这里，可以拉伸和折叠以创建3D结构或附着在物体表面以影响其刚度的可重构刚度改变皮肤被呈现。这些“干扰蒙皮”采用真空动力干扰交错的、离散的平面元件，使蒙皮在软状态下具有二维可拉伸性。拉伸允许干扰蒙皮可逆形状成承载，功能工具的需求。此外，它们可以附着在具有复杂曲率的主体结构上，例如机器人手臂和人体的某些部分，以提供支撑或创建模具。我们还展示了多个皮肤如何一起工作，通过创建瞬时关节来修改连续体机器人的工作空间。因此，阻塞蒙皮可以作为一种可重构的方法来创建工具，并根据需要调整结构刚度。
Numerous animals adapt their stiffness during natural motions to increase efficiency or environmental adaptability. For example, octopuses stiffen their tentacles to increase efficiency during reaching, and several species adjust their leg stiffness to maintain stability when running across varied terrain. Inspired by nature, variable‐stiffness machines can switch between rigid and soft states. However, existing variable‐stiffness systems are usually purpose‐built for a particular application and lack universal adaptability. Here, reconfigurable stiffness‐changing skins that can stretch and fold to create 3D structures or attach to the surface of objects to influence their rigidity are presented. These “jamming skins” employ vacuum‐powered jamming of interleaved, discrete planar elements, enabling 2D stretchability of the skin in its soft state. Stretching allows jamming skins to be reversibly shaped into load‐bearing, functional tools on‐demand. Additionally, they can be attached to host structures with complex curvatures, such as robot arms and portions of the human body, to provide support or create a mold. We also show how multiple skins can work together to modify the workspace of a continuum robot by creating instantaneous joints. Jamming skins thus serve as a reconfigurable approach to creating tools and adapting structural rigidity on‐demand.