A Flexible Connector for Soft Modular Robots Based on Micropatterned Intersurface Jamming
This addresses the problem of integrating robust yet flexible connectors into soft modular robots for applications requiring safe interaction and adaptability, representing an incremental advancement.
The paper tackled the challenge of creating deformable connectors for soft modular robots by proposing a flexible connector based on micropatterned intersurface jamming, which can stably support an average maximum load of 22 N linearly and 10.86 N under planar rotation.
Soft modular robots enable more flexibility and safer interaction with the changing environment than traditional robots. However, it has remained challenging to create deformable connectors that can be integrated into soft machines. In this work, we propose a flexible connector for soft modular robots based on micropatterned intersurface jamming. The connector is composed of micropatterned dry adhesives made by silicone rubber and a flexible main body with inflatable chambers for active engagement and disengagement. Through connection force tests, we evaluate the characteristics of the connector both in the linear direction and under rotational disruptions. The connector can stably support an average maximum load of 22 N (83 times the connector's body weight) linearly and 10.86 N under planar rotation. The proposed connector demonstrates the potential to create a robust connection between soft modular robots without raising the system's overall stiffness; thus guarantees high flexibility of the robotic system.