Variable stiffness device and method of manufacturing the same
A variable stiffness device, including a core including a low melting point alloy, an encapsulation surrounding the core, the encapsulation made of an elastic material and sealing the core, and a heating device arranged around the encapsulation, configured to heat the core, wherein the elastic material of the encapsulation is subject to a tensile stress in a direction along a longitudinal extension of the thread-like variable stiffness device.
1. A variable stiffness device, comprising:
a core including a low melting point alloy;
an encapsulation surrounding the core, the encapsulation made of an elastic material and sealing the core; and
a heating device arranged around the encapsulation, configured to heat the core to transition the variable stiffness device from a stiff state to a soft state,
wherein the elastic material of the encapsulation is subject to a tensile stress in a direction along a longitudinal extension of the variable stiffness device, and
wherein upon the transition from the stiff state to the soft state, the encapsulation is configured to recover an original shape as a longitudinal tube that entirely encapsulates the core, the core shaped as a longitudinal rod.
2. The variable stiffness device according to claim 1 , wherein the encapsulation is made of silicone.
3. The variable stiffness device according to claim 1 , wherein, in the stiff state, the low melting point alloy is in a solid state, and in the soft state, the low melting point alloy is in a liquid state.
4. The variable stiffness device according to claim 1 , wherein the heater includes a conductive wire that is wound around the core.
5. The variable stiffness device according to claim 1 , wherein the low melting point alloy is subject to a compressive stress in the direction along the longitudinal extension of the thread-like variable stiffness device.
6. The variable stiffness device according to claim 1 , wherein for establishing the tensile stress to the encapsulation, the encapsulation is subject to a pre-stretch along an axis of longitudinal extension of the longitudinal tube to subject the core to a compressive stress along the axis.
7. The variable stiffness device according to claim 6 , wherein a pre-stretch percentage is between 25% to 70% of a longitudinal expansion from the encapsulation in a non-stretched state.
8. The variable stiffness device according to claim 6 , wherein an internal pressure p at the core is in a range between 0.1 MPa and 0.5 MPa resulting from the compressive stress.
9. An actuator, comprising:
a tubular body with an interior chamber; and
a plurality of variable stiffness devices, each of the variable stiffness devices including,
a core including a low melting point alloy;
a tubular encapsulation surrounding the core, the encapsulation made of an elastic material and sealing the core; and
a heating device arranged around the encapsulation, configured to heat the core to transition the variable stiffness device from a stiff state to a soft state,
wherein the elastic material of the encapsulation is subject to a tensile stress in a direction along a longitudinal extension of the thread-like variable stiffness device,
wherein upon the transition from the stiff state to the soft state, the tubular encapsulation is configured to recover an original shape that entirely encapsulates the core, the core shaped as a longitudinal rod inside the tubular encapsulation, and
wherein the plurality of variable stiffness devices are arranged in parallel and are attached to the tubular body, and are also arranged in parallel with a longitudinal extension of the tubular body.
10. The actuator according to claim 9 , further comprising:
reinforcement rings that are circumferentially arranged around the tubular body, wherein
the interior chamber of the tubular body is pressurized.
11. The actuator according to claim 9 , further comprising:
a control device configured to control a stiffness of the plurality of variable stiffness devices individually.
12. The actuator according to claim 9 , wherein for each of the variable stiffness devices, for establishing the tensile stress to the tubular encapsulation, the encapsulation is subject to a pre-stretch along an axis of longitudinal extension of the tubular encapsulation to subject the core to a compressive stress along the axis.
13. The actuator according to claim 12 , wherein for each of the variable stiffness devices, a pre-stretch percentage is between 25% to 70% of a longitudinal expansion from the encapsulation in a non-stretched state.
14. The actuator according to claim 9 , wherein for each of the variable stiffness devices, an internal pressure p at the core is in a range between 0.1 MPa and 0.5 MPa resulting from the compressive stress.