A Novel Design of Soft Pneumatic Actuator with Variable Stiffness Using Granular Jamming

Soft robotics is attracting researchers’ interest with its advantages of flexibility and portability in current years. Soft pneumatic actuator is a popular design to be used on soft manipulator and gripper. In comparison of rigid actuator, the softness of material limits the controllability and stability under constrained conditions. On the other hand, soft pneumatic actuator with controllable stiffness can overcome this challenge. In this research, we present a design of soft pneumatic actuator using granular jamming to vary the stiffness of actuator. This actuator is a cylinder which has 70mm length and 25 mm diameter, which can bend from 12.8° to 45.6°. By combining the granular jamming with soft pneumatic actuator, this actuator has variability of stiffness and keeps the softness of soft actuator.