Variable stiffness element by granular jamming (Stiffness enhancement by a wrinkle-free outer membrane)
A flexible bag containing particles becomes rigid when the air inside the element is evacuated. Variable stiffness elements using granular jamming have been used for haptic displays and robotic orthoses helped by the soft and lightweight body. However, deforming variable stiffness elements causes wr...
| Main Authors: | , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2017-06-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/83/851/83_17-00107/_pdf/-char/en |
| _version_ | 1811317715301826560 |
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| author | Yuma KITAGAWA Takashi MITSUDA |
| author_facet | Yuma KITAGAWA Takashi MITSUDA |
| author_sort | Yuma KITAGAWA |
| collection | DOAJ |
| description | A flexible bag containing particles becomes rigid when the air inside the element is evacuated. Variable stiffness elements using granular jamming have been used for haptic displays and robotic orthoses helped by the soft and lightweight body. However, deforming variable stiffness elements causes wrinkles on the membrane, which decrease and destabilize the stiffness of the element. The wrinkles on variable stiffness elements are due to the non-stretchability of the outer membrane. A stretched membrane reduces wrinkles but decreases the stiffness of the element dramatically. This study suggests a wrinkle-free variable stiffness element with an outer membrane that is stretchable but rigid only when the air inside the element is evacuated. The amount of particles inside conventional elements limits the deformable range of the elements. On the other hand, the novel stiffness element can hold more particles without any loss of the deformable range, which increases the stiffness of the element. The stretchable outer membrane also reduces undesirable deformations of the element caused by wrinkles when the air inside the element is evacuated. The experimental results of this study confirm that the stiffness of the wrinkle-free variable stiffness element is greater and more stable than a conventional stiffness element. |
| first_indexed | 2024-04-13T12:13:10Z |
| format | Article |
| id | doaj.art-b8b6fb8acfd74f99ba1fab48e54a1777 |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-13T12:13:10Z |
| publishDate | 2017-06-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-b8b6fb8acfd74f99ba1fab48e54a17772022-12-22T02:47:26ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612017-06-018385117-0010717-0010710.1299/transjsme.17-00107transjsmeVariable stiffness element by granular jamming (Stiffness enhancement by a wrinkle-free outer membrane)Yuma KITAGAWA0Takashi MITSUDA1Department of Human and Computer Intelligence, Ritsumeikan UniversityDepartment of Human and Computer Intelligence, Ritsumeikan UniversityA flexible bag containing particles becomes rigid when the air inside the element is evacuated. Variable stiffness elements using granular jamming have been used for haptic displays and robotic orthoses helped by the soft and lightweight body. However, deforming variable stiffness elements causes wrinkles on the membrane, which decrease and destabilize the stiffness of the element. The wrinkles on variable stiffness elements are due to the non-stretchability of the outer membrane. A stretched membrane reduces wrinkles but decreases the stiffness of the element dramatically. This study suggests a wrinkle-free variable stiffness element with an outer membrane that is stretchable but rigid only when the air inside the element is evacuated. The amount of particles inside conventional elements limits the deformable range of the elements. On the other hand, the novel stiffness element can hold more particles without any loss of the deformable range, which increases the stiffness of the element. The stretchable outer membrane also reduces undesirable deformations of the element caused by wrinkles when the air inside the element is evacuated. The experimental results of this study confirm that the stiffness of the wrinkle-free variable stiffness element is greater and more stable than a conventional stiffness element.https://www.jstage.jst.go.jp/article/transjsme/83/851/83_17-00107/_pdf/-char/enmachine elementvariable stiffnesspneumatic actuatorflexible structure |
| spellingShingle | Yuma KITAGAWA Takashi MITSUDA Variable stiffness element by granular jamming (Stiffness enhancement by a wrinkle-free outer membrane) Nihon Kikai Gakkai ronbunshu machine element variable stiffness pneumatic actuator flexible structure |
| title | Variable stiffness element by granular jamming (Stiffness enhancement by a wrinkle-free outer membrane) |
| title_full | Variable stiffness element by granular jamming (Stiffness enhancement by a wrinkle-free outer membrane) |
| title_fullStr | Variable stiffness element by granular jamming (Stiffness enhancement by a wrinkle-free outer membrane) |
| title_full_unstemmed | Variable stiffness element by granular jamming (Stiffness enhancement by a wrinkle-free outer membrane) |
| title_short | Variable stiffness element by granular jamming (Stiffness enhancement by a wrinkle-free outer membrane) |
| title_sort | variable stiffness element by granular jamming stiffness enhancement by a wrinkle free outer membrane |
| topic | machine element variable stiffness pneumatic actuator flexible structure |
| url | https://www.jstage.jst.go.jp/article/transjsme/83/851/83_17-00107/_pdf/-char/en |
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