Muscle-inspired stiffness-tunable flexible fiber jamming structure for wearable robots ^*

Soft robotics have found their tremendous application prospects in wearable robots due to the inherent compliance of soft materials when interacting with human bodies. However, the limited load-bearing and output capabilities impeded their application in real world. Variable stiffness design contributes to tackling this problem by enhancing the overall structural rigidity. Nevertheless, most of current jamming-based variable stiffness structures realize their stiffness enhancement by squeezing discrete rigid elements, resulting in the loss of structural compliance in the high stiffness state, which could significantly reduce the deformability and even injure the individuals when utilized in wearable robots. In this paper, we propose a muscle-inspired stiffness-continuously-adjustable flexible fiber jamming (FFJ) structure for soft wearable robots. The FFJ structure can achieve continuous stiffness-variation by controlling the fiber overlapping length, which maintains stretchability even in the high stiffness state. We provide a theoretical model to analyze the mechanical performance of the proposed FFJ structure with different design parameters, and verify the model experimentally. The preliminary results show that we achieved 9 times of stiffness enhancement of the proposed FFJ structure by controlling the vacuum pressure, and the maximum tensile stiffness is 4.1 N mm⁻¹. We further demonstrated the effectiveness of the proposed FFJ structure on wearable robots in three different working scenarios: active finger rehabilitation, active elbow rehabilitation, and passive trunk support. The results show that the FFJ structure was able to provide controllable impedance force for active finger/elbow rehabilitation, and help support the human body during long-term labor. This work broadens the frontiers of soft wearable robots and leads a way to the future design of soft and strong robots and devices.