“…A variety of methods have been employed to attain variable stiffness, 15 including pneumatic jamming, 16,17 magnetorheological and electrorheological materials, [18][19][20][21] shape memory polymers and alloys, [22][23][24][25] liquid crystal elastomers, [26][27][28] and phase-changing materials. [29][30][31][32][33] Typically derived from metallic alloys, waxes, or thermoplastic polymers, encapsulated phase-changing materials exhibit a decrease in modulus via the transition from solid to liquid, and raise in modulus via the reverse (solidification) transition. One phase-changing material gaining traction in the literature is Field's metal, a eutectic alloy of bismuth, indium, and tin known for its low melting point of T m = 62 1C and non-hazardous composition.…”