Design and Development of a Stiffness Varying Soft Robot Arm Module

This thesis explores the design and development of a stiffness-varying soft robot arm. Compliant materials were implemented, enabling it to bend and extend while having internal stiffening mechanisms. Various prototypes were fabricated using silicone casting and 3D printing. The experiments conducted revealed that increased pressures and presence of a stiffening mechanism contributes to force increase exerted by the soft robot arm. Moreover, an increase in strength was also observed with a greater vacuum pressure in the stiffening mechanism. The findings contribute to the development of soft robot arms with improved capabilities compared to the state of the arts.