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A Novel Layer Jamming Mechanism with Tunable Stiffness Capability for Minimally Invasive Surgery
Samsung Advanced Institute of Technology, Yongin si 446-712, Republic of Korea.
Direct Drive Systems, FMC Technologies, Fullerton, CA 92833 USA.
theMassachusetts Institute of Technology, Cambridge, MA 02139 USA.
theMassachusetts Institute of Technology, Cambridge, MA 02139 USA.
2013 (English)In: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 29, no 4, 1031-1042 p.Article in journal (Refereed) Published
Abstract [en]

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. © IEEE

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2013. Vol. 29, no 4, 1031-1042 p.
Keyword [en]
Layer jamming, minimally invasive surgery (MIS), snake-like manipulator, tunable stiffness
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20611DOI: 10.1109/TRO.2013.2256313ISI: 000322836600017Scopus ID: 2-s2.0-84882450817OAI: oai:DiVA.org:hh-20611DiVA: diva2:585329
Available from: 2013-01-09 Created: 2013-01-09 Last updated: 2014-11-11Bibliographically approved

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