A Comprehensive Experimental Characterization of Mechanical Layer Jamming Systems

Organisms in nature, such as Cephalopods and Pachyderms, exploit stiffness modulation to achieve amazing dexterity in the control of their appendages. In this paper, we explore the phenomenon of layer jamming, which is a popular stiffness modulation mechanism that provides an equivalent capability for soft robots. More specifically, we focus on mechanical layer jamming, which we realise through two-layer multi material structure with tooth-like protrusions. We identify key design parameters for mechanical layer jamming systems, including the ability to modulate stiffness, and perform a variety of comprehensive tests placing the specimens under bending and torsional loads to understand the influence of our selected design parameters (mainly tooth geometry) on the performance of the jammed structures. We note the ability of these structures to produce a peak change in stiffness of 5 times in bending and 3.2 times in torsion. We also measure the force required to separate the two jammed layers, an often ignored parameter in the study of jamming-induced stiffness change. This study aims to shed light on the principled design of mechanical layer jammed systems and guide researchers in the selection of appropriate designs for their specific application domains.