1 research outputs found
A Flexible Connector for Soft Modular Robots Based on Micropatterned Intersurface Jamming
Soft modular robots enable more flexibility and safer interaction with the
changing environment than traditional robots. However, it has remained
challenging to create deformable connectors that can be integrated into soft
machines. In this work, we propose a flexible connector for soft modular robots
based on micropatterned intersurface jamming. The connector is composed of
micropatterned dry adhesives made by silicone rubber and a flexible main body
with inflatable chambers for active engagement and disengagement. Through
connection force tests, we evaluate the characteristics of the connector both
in the linear direction and under rotational disruptions. The connector can
stably support an average maximum load of 22 N (83 times the connector's body
weight) linearly and 10.86 N under planar rotation. The proposed connector
demonstrates the potential to create a robust connection between soft modular
robots without raising the system's overall stiffness; thus guarantees high
flexibility of the robotic system.Comment: Accepted to ROBOSOFT 202