Shanbao Cheng

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—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 mech-anism's hollow geometry, compact size, and light weight, it is well suited for various minimally invasive(More)
— This paper introduces a new mechanism for achieving tunable stiffness, named layer jamming, and presents a hollow snake-like manipulator having tunable stiffness capability. The layer jamming mechanism is composed of multiple layers of thin Mylar film, and makes use of amplified friction between the films by applying vacuum pressure. In contrast to other(More)
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