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We explain when, and why, solder-based phase change materials (PCMs) are best-suited as a means to modify a robotic mechanism's kinematic and elastomechanic behavior. The preceding refers to mechanisms that possess joints which may be thermally locked and unlocked via a material phase change within the joint. Different combinations of locked and unlocked(More)
ARCHNES The author hereby grants to MIT permission to reproduce and to distribute publicly paper and electronic copies of this thesis document in whole or in part in any medium now known or hereafter created. ABSTRACT This thesis documents the design and analysis of a soft prismatic joint for use in soft robotics. While this joint can be utilized in any(More)
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