Fully-Printable Soft Actuator with Variable Stiffness by Phase Transition and Hydraulic Regulations

Actuators with variable stiffness have vast potential in the field of compliant robotics. Morphological shape changes actuators are possible, while they retain their structural strength. They can shift between a rigid load-carrying state and soft flexible short transition period. This work presents hydraulically actuated actuator fabricated by fully 3D printing memory polymer (SMP). The shows 519 mN/mm at 20 ?C 45 50 same pressure (0.2 MPa). demonstrates high variation 474 (10 times baseline stiffness) for temperature change 30 large (?1150%) average stiffness. A combined both (20–50 ?C) (0–0.2 MPa) displays 501 mN/mm. also output force (1.46 N) compared to (0.16 ?C. is further utilized bending actuator. Varying displayed no In contrast, angle 80?. ability bend At time, an additional weight (300 g) suspended could increase its capability 160?. We demonstrated robotic gripper varying carry various objects.