Layer Jamming of Magnetorheological Elastomers for Variable Stiffness in Soft Robots

摘要

Abstract Background One of the biggest challenges in soft robotics is the variability and controllability of stiffness. Jamming-based approaches have been of interest to change stiffness dramatically by increasing friction between grains, layers, or fibers. Besides, magnetorheological elastomers (MREs) that exhibit magnetic field-dependent viscoelasticity have significant potential as a stiffness variation material. This study investigates the unique mechanics of magnetic jamming of MRE sheets exploring stiffness change both due to jamming and variable viscosity. Methods Sample MREs and flexible neodymium-iron-boron (NdFeB) magnets are manufactured. Uniaxial tensile tests supported with digital image correlation are performed to characterize the materials. Multi-layer jamming structures comprised of MREs and NdFeB magnets are developed and validated through 3-point bending experiments and finite element simulations. Results Results show that the stiffness of the multi-layer structure is higher under magnetic field. Furthermore, the stiffness change is increased when MREs are used instead of PDMS as layers. Conclusion This study proves the concept of magnetic jamming of MRE layers. The results are crucial for the possible soft robotic implementation of the proposed hybrid stiffening approach combining jamming with viscoelasticity modification.