Soft Actuator Stiffness Programming With Electroadhesive Clutches

The patent applies the dynamics principle by integrating electroadhesive clutches that can dynamically change the stiffness of soft actuator regions in real-time. These clutches allow the actuator to transition between compliant and stiff states, enabling both high force capacity when needed and adaptable range of motion when required. The stiffness modulation is achieved through electrical actuation of the clutches, which selectively engage or disengage to alter the mechanical properties of specific actuator regions.

The patent implements parameter changes by using electroadhesive clutches to modulate the stiffness parameter of the soft actuator regions. By electrically actuating the clutches, the physical state of the actuator material changes from compliant to stiff, allowing the system to adapt its mechanical properties dynamically. This enables the actuator to optimize its performance for different tasks by changing its stiffness parameter in response to control signals.

The patent applies segmentation by dividing the soft actuator into multiple regions, each equipped with its own electroadhesive clutch. This allows independent control of stiffness in different segments, enabling complex shape changes and multi-degree-of-freedom manipulation. Each segmented region can be actuated independently, providing fine-grained control over the overall actuator configuration while maintaining a modular architecture that manages complexity.

The patent implements universality by designing the electroadhesive clutch mechanism to serve multiple functions: it provides stiffness modulation, shape control, and force generation capabilities within a single integrated component. This multi-functional approach reduces the need for separate mechanisms for each function, thereby managing device complexity while achieving high adaptability and programmable control.