Stiffness-Tuneable Segment for Continuum Soft Robots with Vertebrae

In addition to high compliance unstructured environments, soft robots can be further improved gain the advantages of rigid by increasing stiffness. Indeed, realizing adjustable stiffness continuum provide safer interactions with objects and greatly expand their application range. To address above situation, we propose a tubular stiffening segment based on layer jamming. It temporarily increase robot in desired configuration. Furthermore, also present spine-inspired that support segments prevent buckling. Theoretical analysis was conducted predict variation at different vacuum levels. Finally, integrated obtain tuneable-stiffness (TSCR). Experimental tests were performed evaluate robot’s shape control tuning effectiveness. results showed bending initial TSCR increased more than 15× 0°, 30× 90°, 60× compressive