Below is a list of all relevant publications authored by Robotics Forum members.

Citation

BibTex format

@inproceedings{Shen:2020,
author = {Shen, M and Clark, A and Rojas, N},
publisher = {Springer Verlag},
title = {A scalable variable stiffness revolute joint based on layer jamming for robotic exoskeletons},
url = {http://hdl.handle.net/10044/1/80227},
year = {2020}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - Robotic exoskeletons have been a focal point of research dueto an ever-increasing ageing population, longer life expectancy, and adesire to further improve the existing capabilities of humans. However,their effectiveness is often limited, with strong rigid structures poorlyinterfacing with humans and soft flexible mechanisms providing limitedforces. In this paper, a scalable variable stiffness revolute jointis pro-posed to overcome this problem. By using layer jamming, the jointhasthe ability to stiffen or soften for different use cases. A theoretical and ex-perimental study of maximum stiffness with size was conductedto deter-mine the suitability and scalablity of this technology. Three sizes (25 mm,18.75 mm, 12.5 mm diameter) of the joint were developed and evaluated.Results indicate that this technology is most suitable for use in humanfingers, as the prototypes demonstrate a sufficient torque (0.054 Nm) tosupport finger movement.
AU - Shen,M
AU - Clark,A
AU - Rojas,N
PB - Springer Verlag
PY - 2020///
SN - 0302-9743
TI - A scalable variable stiffness revolute joint based on layer jamming for robotic exoskeletons
UR - http://hdl.handle.net/10044/1/80227
ER -