A Soft, Controllable, High Force Density Linear Brake Utilizing Layer Jamming

While much work has focused on the design of actuators for inputting energy into robotic systems, less work has been dedicated to devices that remove energy in a controlled manner, especially in the field of soft robotics. Such devices have the potential to significantly modulate the dynamics of a system with very low required input power. In this letter, we leverage the concept of layer jamming, previously used for variable stiffness devices, to create a controllable, high force density, soft layer jamming brake (SLJB). We introduce the design, modeling, and performance analysis of the SLJB and demonstrate variable tensile resisting forces through the regulation of vacuum pressure. Further, we measure and model the tensile force with respect to different layer materials, vacuum pressures, and lengthening velocities, and show its ability to absorb energy during collisions. We hope to apply the SLJB in a number of applications in wearable technology.