Abstract:Studies on soft robotics have explored mechanisms of switching the stiffness of a robot structure. The hybrid soft-rigid approach, which combines soft materials and high-rigidity structures, is the most commonly-used method for the variable stiffness mechanism. The positive-pressurization method, in particular, has attracted significant attention in recent years as it can remove the limit on the driving pressure. Moreover, it can change the shape holding force according to the value of internal pressure. In th… Show more
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