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1.发明申请公开(公告)号：US20200306955A1
公开(公告)日：2020-10-01
申请号：US16804651
申请日：2020-02-28
Inventor： Jung KIM , Hwayeong JEONG
IPC: B25J9/10
Abstract: Various embodiments provide a variable stiffness soft actuator inspired by an ossicle structure of echinoderm and a robot apparatus including the same. According to various embodiments, the soft actuate includes a plurality of ossicle elements arranged in a specific structure, wherein an interval between the plurality of ossicle elements is maintained or reduced depending on vacuum generation to change the stiffness of the soft actuator.
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