Magnetically induced stiffening for soft robotics

Gaeta, Leah Teresa; McDonald, Kevin; Kinnicutt, Lorenzo; Le, Megan; Wilkinson-Flicker, Sidney; Jiang, Yixiao; Atakuru, Taylan; Samur, Evren; Ranzani, Tommaso

doi:10.1039/d2sm01390h

Cited by 15 publications

(6 citation statements)

References 91 publications

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“…This pursuit involves investigating suitable semiactive approaches, exemplified by jamming transition systems [3] and magnetorheological (MR) [4] fluids as part of this ongoing challenge. Moreover, authors [5] recently proposed a magnetically-controlled stiffening method that combines jamming transition with MR fluids to create a fast response hybrid mechanical and materials approach. 3 These two authors contributed equally to this work.…”

Section: Introductionmentioning

confidence: 99%

“…This thermal sensitivity may consequently impose constraints on stiffness performance. Moreover, the integration of MR fluids into systems is marked by a considerable level of complexity, involving intricate setups comprising electromagnetic sources [5]. Jamming systems typically feature fewer complex components, simplifying maintenance needs and enhancing overall system reliability and ease of upkeep [3].…”

Section: Introductionmentioning

confidence: 99%

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Variable stiffness structure inspired by seashells

Pagliarani,

Arleo,

Luca

et al. 2024

Smart Mater. Struct.

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Variable stiffness is typically employed in soft robotics to address the trade-off between compliance and the ability to generate stability when required. Among the several approaches investigated, jamming transition systems show remarkable stiffness performance and fast response. Building upon the preliminary study on a seashell bioinspired variable stiffness structure, here we extend the design space through a parametric study supported by a finite element model based on commercially available software. The study allows establishing the relationship between the design parameters and the stiffness performance. Moreover, the optimal configuration in terms of performance to energy consumption is identified and compared to previous similar approaches. Finally, the low computational cost of the finite element model demonstrated to be an effective tool for the analysis of complex geometries, thereby establishing a foundation for the development of cost-effective and lightweight soft robotic devices empowered by variable stiffness capabilities (e.g. a wearable device for assistance)

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Variable stiffness structure inspired by seashells

Pagliarani,

Arleo,

Luca

et al. 2024

Smart Mater. Struct.

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“…However, they require mechanical actuators, which may complicate system integration depending on the application field. Electrostatic [21,22] and magnetic jamming [23,24] methods also provide directional pressures; however, the applied pressure decreases as the distance between the charged or magnetized surfaces increases. Moreover, high voltages are essential, potentially limiting their application in safety-sensitive scenarios.…”

Section: Introductionmentioning

confidence: 99%

“…This makes an EPM a more desirable magnetic field source than an electromagnet since the energy is consumed only during the switching between the states and the transition can be controlled electronically. Gaeta et al [24] introduced a magnetically controlled stiffening technique utilizing MRFs and jamming-based stiffening methods with the assistance of EPMs. However, challenges, such as particle settling and control difficulties, limit the use of MRFs.…”

Section: Introductionmentioning

confidence: 99%

Fiber Jamming of Magnetorheological Elastomers as a Technique for the Stiffening of Soft Robots

Atakuru,

Kocabaş,

Pagliarani

et al. 2024

Robotics

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There has been a notable focus on the adoption of jamming-based technologies, which involve increasing the friction between grains, layers, or fibers to achieve variable stiffness capability in soft robots. Additionally, magnetorheological elastomers (MREs) that show magnetic-field-dependent viscoelasticity have great potential as a material for varying stiffness. This study proposes a hybrid method (magnetic jamming of MRE fibers) for enhancing the stiffness of soft robots, combining a jamming-based with a viscosity-based method. First, a fiber jamming structure is developed and integrated into a soft robot, the STIFF-FLOP manipulator, to prove the concept of the magnetic jamming of MRE fibers. Then, based on the proposed method, a variable stiffness device actuated by electro-permanent magnets is developed. The device is integrated into the same manipulator and the electronically controlled magnetic jamming and stiffening of the manipulator is demonstrated. The experimental results show that stiffness gain in bending and compression is achieved with the proposed method. The outcomes of this investigation demonstrate that the proposed hybrid stiffening technique presents a promising avenue for realizing variable and controllable stiffness in soft robots.

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“…Adaptive materials which change their stiffness and shape in response to engineering stimuli have emerged as important components for emerging applications such as reconfigurable and adaptive robots and machines. [1][2][3][4][5][6][7][8][9][10] One essential feature of these materials is the ability to rapidly undergo extreme changes in stiffness to enable multifunctional components. Stiffness tuning can be accomplished at the material level by utilizing mechanisms such as phase change, [11][12][13] granular jamming, [14][15][16] or magnetic material response.…”

Section: Introductionmentioning

confidence: 99%