Title: A Novel Layer Jamming Mechanism With Tunable Stiffness Capability for Minimally Invasive Surgery
Abstract:This paper presents a novel “layer jamming” mechanism that can achieve variable stiffness. The layer jamming mechanism exploits the friction present between layers of thin material, which can be contr...This paper presents a novel “layer jamming” mechanism that can achieve variable stiffness. The layer jamming mechanism exploits the friction present between layers of thin material, which can be controlled by a confining pressure. Due to the mechanism's hollow geometry, compact size, and light weight, it is well suited for various minimally invasive surgery applications, where stiffness change is required. This paper describes the concept, the mathematical model, and a tubular snake-like manipulator prototype. Various characteristics of layer jamming, such as stiffness and yield strength, are studied both theoretically and experimentally.Read More
Publication Year: 2013
Publication Date: 2013-04-15
Language: en
Type: article
Indexed In: ['crossref']
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Cited By Count: 357
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