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Soft Robotics. Bio-inspired Antagonistic Stiffening

Stilli, A; Althoefer, K; Wurdemann, HA; (2018) Soft Robotics. Bio-inspired Antagonistic Stiffening. In: Karafillidis, A and Weidner, R, (eds.) Developing Support Technologies: Integrating Multiple Perspectives to Create Assistance that People Really Want. (pp. 207-214). Springer: Cham, Switzerland.

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Abstract

Soft robotic structures might play a major role in the 4th industrial revolution. Researchers have demonstrated advantages of soft robotics over traditional robots made of rigid links and joints in several application areas including manufacturing, healthcare, and surgical interventions. However, soft robots have limited ability to exert larger forces and change their stiffness on demand over a wide range. Stiffness can be achieved as a result of the equilibrium of an active and a passive reaction force or of two active forces antagonistically collaborating. This paper presents a novel design paradigm for a fabric-based Variable Stiffness System including potential applications.

Type: Book chapter
Title: Soft Robotics. Bio-inspired Antagonistic Stiffening
ISBN-13: 978-3-030-01836-8
DOI: 10.1007/978-3-030-01836-8_20
Publisher version: https://doi.org/10.1007/978-3-030-01836-8_20
Language: English
Additional information: This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions.
UCL classification: UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: http://discovery.ucl.ac.uk/id/eprint/10061382
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