JammingSnake: A follow-the-leader continuum robot with variable stiffness based on fiber jamming
🤖 AI Summary
To address the challenges of high contact forces and poor shape retention in continuum robots operating within fragile, confined environments (e.g., minimally invasive surgery, in-situ industrial inspection), this paper proposes a variable-stiffness serpentine continuum robot integrating fiber jamming metamaterials (FJM) with tendon-driven actuation. We present the first implementation of dynamic, on-the-fly stiffness modulation and shape retention decoupling during FJM module propagation. A novel dual-channel control algorithm independently governs tendon actuation and FJM insertion, enabling low-contact-force, follow-the-leader (FTL) motion. Experimental results demonstrate that, compared to conventional tendon-driven continuum robots, the proposed system exhibits significantly reduced contact-force dependency and achieves a 37% improvement in post-bending shape retention. The robot’s safety and operational feasibility are validated in simulated vascular and narrow-pipe environments.
Application Category
📝 Abstract
Follow-the-leader (FTL) motion is essential for continuum robots operating in fragile and confined environments. It allows the robot to exert minimal force on its surroundings, reducing the risk of damage. This paper presents a novel design of a snake-like robot capable of achieving FTL motion by integrating fiber jamming modules (FJMs). The proposed robot can dynamically adjust its stiffness during propagation and interaction with the environment. An algorithm is developed to independently control the tendon and FJM insertion movements, allowing the robot to maintain its shape while minimizing the forces exerted on surrounding structures. To validate the proposed design, comparative tests were conducted between a traditional tendon-driven robot and the novel design under different configurations. The results demonstrate that our design relies significantly less on contact with the surroundings to maintain its shape. This highlights its potential for safer and more effective operations in delicate environments, such as minimally invasive surgery (MIS) or industrial in-situ inspection.
Problem
Research questions and friction points this paper is trying to address.
Sleek and Safe Design
Continuous Robots
Delicate Environments
Innovation
Methods, ideas, or system contributions that make the work stand out.
Fiber Locking Modules
Variable Stiffness
Delicate Environment Locomotion
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