A Compliant Robotic Leg Based on Fibre Jamming

Abstract

Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behavior, we propose a novel design of a robotic leg utilizing fibre jammed structures as passive compliant mechanisms to achieve variable joint stiffness and damping. We developed multimaterial fibre jammed tendons with tunable mechanical properties, which can be 3-D printed in one-go without need for assembly. Through extensive numerical simulations and experimentation, we demonstrate the usefulness of these tendons for shock absorbance and maintaining joint stability. We investigate how they could be used effectively in a multijoint robotic leg by evaluating the relative contribution of each tendon to the overall stiffness of the leg. Further, we showcase the potential of these jammed structures for legged locomotion, highlighting how morphological properties of the tendons can be used to enhance stability in robotic legs.