Layer Jamming Structure for Curved Wearable Robot Rigidity
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Solution Overview
Problem
Existing layer jamming driving devices are limited in their ability to provide variable rigidity in non-linear tension directions and are not suitable for wearable robots with curved surfaces, as they are prone to layer displacement and reduced performance when subjected to bending or external stretching.
Innovation Solution
A layer jamming driving device with slidably and rotatably coupled layer structures, featuring a variable material enclosure, sliding slots, shaft pins, and support holders that allow for multiple degrees of freedom and enhanced flexibility, including bending grooves and patterned surfaces for improved rigidity and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If the layer jamming driving device is designed with fixed layer structures for linear tension direction rigidity, then high rigidity is achieved in the linear tension direction, but the device cannot accommodate severe bending or non-linear tensile directions
Solution Approach 1:
The device divides the continuous layer structure into multiple discrete layer stacked structures that can move independently relative to each other. Each layer can slide and rotate separately, allowing the structure to adapt to bending and non-linear deformations while maintaining rigidity control in the linear tension direction through vacuum application.
Solution Approach 2:
The layer stacked structures are designed with dynamic coupling mechanisms (sliding slots and shaft pins) that allow the layers to transition between fixed and mobile states. When vacuum is applied, layers become relatively fixed for rigidity; when vacuum is released, layers can slide and rotate to accommodate bending and curved surface conformations.
2Reliability
If the enclosure is sealed to maintain internal structure, then the device maintains structural integrity, but fallen layers become difficult to reposition when the enclosure is excessively stretched
Solution Approach 1:
The sealing structure is extracted or opened at specific locations to create layer input holes. This allows layers to be removed and repositioned when needed, while the rest of the enclosure remains sealed to maintain structural integrity. The sealing can be temporarily opened for maintenance and then restored.
Solution Approach 2:
A sealing structure with controllable openings acts as an intermediary between the sealed enclosure and the external environment. This intermediary allows selective access for layer repositioning while maintaining the sealed condition for structural integrity during normal operation.
3Strength
If layers are stacked closely to maximize rigidity, then variable rigidity is achieved, but layers may fall out when the external enclosure is excessively stretched
Solution Approach 1:
Holders are pre-positioned at both ends of the enclosure to grasp and secure the layers before stretching occurs. These holders prevent layers from falling out when the enclosure is excessively stretched, while allowing layers to be stacked closely for rigidity when the enclosure is in normal state.
Solution Approach 2:
The external enclosure is designed as a flexible structure that can stretch without damaging the internal layer structure. The flexibility of the enclosure, combined with holder constraints, allows the device to accommodate stretching while preventing layer displacement.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables effective variable rigidity mechanisms for wearable robots on bodies with various curves, providing enhanced flexibility and maintaining performance even under bending and stretching conditions.
Implementation Method 1
a vacuum chamber (100) provided with a sealing structure (210) at both ends of the vacuum chamber (100) in order to hold the plurality of layers (200)
Implementation Method 2
The layer stacked structures adjacent to each other may be rotatably coupled to each other by a shaft pin passing through the sliding slot
Implementation Method 3
A sliding slot may be formed at a center of each layer in a longitudinal direction
Data Source
AI summary
A layer jamming driving device is proposed, which includes an enclosure made of a variable material; and layer stacked structures having a plurality of layers stacked inside the enclosure, wherein the layer stacked structures can be coupled so as to be slidable and rotatable with respect to each other.