A Novel Layer Jamming Mechanism With Tunable Stiffness Capability for Minimally Invasive Surgery

TitleA Novel Layer Jamming Mechanism With Tunable Stiffness Capability for Minimally Invasive Surgery
Publication TypeJournal Article
Year of Publication2013
AuthorsKim, Y. J., S. Cheng, S. Kim, and K. Iagnemma
JournalIEEE Transactions on Robotics
Volume29
Issue4
Start Page1031
Pagination1031 - 1042
Date Published04/2013
ISBN Number1552-3098
Accession Number13697268
Abstract

This paper presents a novel “layer jamming” mechanism that can achieve variable stiffness. The layer jamming mechanism exploits the friction present between layers of thin material, which can be controlled by a confining pressure. Due to the mechanism's hollow geometry, compact size, and light weight, it is well suited for various minimally invasive surgery applications, where stiffness change is required. This paper describes the concept, the mathematical model, and a tubular snake-like manipulator prototype. Various characteristics of layer jamming, such as stiffness and yield strength, are studied both theoretically and experimentally.

URLhttp://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6502257&tag=1
DOI10.1109/TRO.2013.2256313