An All-Soft Variable Impedance Actuator Enabled by Embedded Layer Jamming

The Follmer group has designed a soft jamming brake and artificial muscle (SJBAM) actuator for improved muscle static and dynamic response along with expanded brake bandwidth. The design incorporates a jamming brake insure a pneumatic artificial muscle (PAM) for synergistic benefits, which allows it to store elastic energy like a PAM and act as a brake or clutch. The result is an all-soft variable impedance actuator enabling simpler controls and braking/clutching abilities. This system provides superior artificial muscle performance for applications in industrial robots and machinery, exoskeletons, haptic interfaces, and automobiles.

Stage of Research
Prototype