Variable pseudo-joint mechanism using vibration and jamming transition

-Principle verification as a soft actuator-

Abstract

In this study, we conduct operational experiments on a variable pseudo joint mechanism. The variable pseudo joint mechanism is an elastic body with two air chambers, one filled with granular material and the other empty. The distribution of granular material inside the elastic body is controlled by vibration, and the pseudo joint is adjusted by jamming transition. By making the pseudo joint adjustable, we can diversify the grasping approaches of soft robots and expand the range of objects that can be grasped. Here, we verify whether the behavior of the mechanism changes when the pseudo joint is adjusted by vibration.