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1. Dynamically Reconfigurable Discrete Distributed Stiffness for Inflated Beam Robots

   https://doi.org/10.1109/ICRA40945.2020.9197237  

   Do, Brian H. ; Banashek, Valory ; Okamura, Allison M. ( May 2020 , IEEE International Conference on Robotics and Automation (ICRA))

   null (Ed.)

   Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely tight local curvature at difficult-to-control buckle point locations. In this paper, we present an inflated beam robot that uses distributed stiffness changing sections enabled by positive pressure layer jamming to control or prevent buckling. Passive valves are actuated by an electromagnet carried by an electromechanical device that travels inside the main inflated beam robot body. The valves themselves require no external connections or wiring, allowing the distributed stiffness control to be scaled to long beam lengths. Multiple layer jamming elements are stiffened simultaneously to achieve global stiffening, allowing the robot to support greater cantilevered loads and longer unsupported lengths. Local stiffening, achieved by leaving certain layer jamming elements unstiffened, allows the robot to produce "virtual joints" that dynamically change the robot kinematics. Implementing these stiffening strategies is compatible with growth through tip eversion and tendon steering, and enables a number of new capabilities for inflated beam robots and tip-everting robots. 

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2. Jamming Skins that Control System Rigidity from the Surface

   https://doi.org/10.1002/adfm.202006915  

   Shah, Dylan S. ; Yang, Ellen J. ; Yuen, Michelle C. ; Huang, Evelyn C. ; Kramer‐Bottiglio, Rebecca ( September 2020 , Advanced Functional Materials)

   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.

    

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3. Pump Up the Jam: Granular Media as a Quasi‐Hydraulic Fluid for Independent Control Over Isometric and Isotonic Actuation

   https://doi.org/10.1002/advs.202104402  

   Bakarich, Shannon E. ; Miller, Rachel ; Mrozek, Randy A. ; O'Neill, Maura R. ; Slipher, Geoffrey A. ; Shepherd, Robert F. ( March 2022 , Advanced Science)

   Elastomer‐granule composites have been used to switch between soft and stiff states by applying negative pressure differentials that cause the membrane to squeeze the internal grains, inducing dilation and jamming. Applications of this phenomenon have ranged from universal gripping to adaptive mobility. Previously, the combination of this jamming phenomenon with the ability to transport grains across multiple soft actuators for shape morphing has not yet been demonstrated. In this paper, the authors demonstrate the use of hollow glass spheres as granular media that functions as a jammable “quasi‐hydraulic” fluid in a fluidic elastomeric actuator that better mimics a key featur of animal musculature: independent control over i) isotonic actuation for motion; and ii) isometric actuation for stiffening without shape change. To best implement the quasi‐hydraulic fluid, the authors design and build a fluidic device. Leveraging this combination of physical properties creates a new option for fluidic actuation that allows higher specific stiffness actuators using lower volumetric flow rates in addition to independent control over shape and stiffness. These features are showcased in a robotic catcher's mitt by stiffening the fluid in the glove's open configuration for catching, unjamming the media, then pumping additional fluid to the mitt to inflate and grasp.

    

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4. Evolution of Force Chains Explains the Onset of Strain Stiffening in Fiber Networks

   https://doi.org/10.1115/1.4055586  

   Sarkar, Mainak ; Notbohm, Jacob ( November 2022 , Journal of Applied Mechanics)

   Abstract Fiber networks are the primary structural components of many biological structures, including the cell cytoskeleton and the extracellular matrix. These materials exhibit global nonlinearities, such as stiffening in extension and shear, during which the fibers bend and align with the direction of applied loading. Precise details of deformations at the scale of the fibers during strain stiffening are still lacking, however, as prior work has studied fiber alignment primarily from a qualitative perspective, which leaves incomplete the understanding of how the local microstructural evolution leads to the global mechanical behavior. To fill this gap, we studied how axial forces are transmitted inside the fiber network along paths called force chains, which continuously evolve during the course of deformation. We performed numerical simulations on two-dimensional networks of random fibers under uniaxial extension and shear, modeling the fibers using beam elements in finite element software. To quantify the force chains, we identified all chains of connected fibers for which the axial force was larger than a preset threshold and computed the total length of all such chains. To study the evolution of force chains during loading, we computed the derivative of the total length of all force chains with respect to the applied engineering strain. Results showed that the highest rate of evolution of force chains coincided with the global critical strain for strain stiffening of the fiber network. Therefore, force chains are an important factor connecting understanding of the local kinematics and force transmission to the macroscale stiffness of the fiber network. 

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5. A Modeling Framework for Jamming Structures

   https://doi.org/10.1002/adfm.202007554  

   Aktaş, Buse ; Narang, Yashraj S. ; Vasios, Nikolaos ; Bertoldi, Katia ; Howe, Robert D. ( February 2021 , Advanced Functional Materials)

   Jamming is a structural phenomenon that provides tunable mechanical behavior. A jamming structure typically consists of a collection of elements with low effective stiffness and damping. When a pressure gradient, such as vacuum, is applied, kinematic and frictional coupling increase, resulting in dramatically altered mechanical properties. Engineers have used jamming to build devices from tunable‐stiffness grippers to tunable‐damping landing gear. This study presents a rigorous framework that systematically guides the design of jamming structures for target applications. The force‐deflection behavior of major types of jamming structures (i.e., grain, fiber, and layer) in fundamental loading conditions (e.g., tension, shear, and bending) is compared. High‐performing pairs (e.g., grains in compression, layers in shear, and bending) are identified. Parameters that go into designing, fabricating, and actuating a jamming structure (e.g., scale, material, geometry, and actuator) are described, along with their effects on functional metrics. Two key methods to expand on the design space of jamming structures are introduced: using structural design to achieve effective tunable‐impedance behavior in specific loading directions, and creating hybrid jamming structures to utilize the advantages of different types of jamming. Collectively, this study elaborates and extends the jamming design space, providing a conceptual modeling framework for jamming‐based structures.

    

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