新型电致螺旋结构让机器人手指可调刚度，更省空间、响应更快。
A Novel Robotic Variable Stiffness Mechanism Based on Helically Wound Structured Electrostatic Layer Jamming
- 用螺旋电极层挤压增强摩擦，通过电压控制刚度变化。
- 相同面积下刚度提升是传统平面结构的数倍，且所需空间更小。
- 已实现原型机验证，适合需柔性调节刚度的机械臂应用。
本文提出一种新型可变刚度机构——螺旋缠绕式电致层挤出（HWS-ELJ），系统研究其在可变刚度机器人手指设计中的应用潜力。该方法利用静电吸引力增强层间摩擦，抑制相对滑动，从而实现刚度可调。相比传统平面电致层挤出（ELJ），HWS-ELJ的螺旋结构使刚度随缠绕角呈指数增长，在相同电极接触面积下实现显著更高的刚度提升，且在同等刚度条件下占用空间更小。考虑到电压控制的实际优势，实验在不同初始力条件下测试了其刚度调节特性，结果符合理论推导趋势，验证了设计合理性与有效性。进一步，构建了集成HWS-ELJ的机器人手指原型，实现了电压驱动的刚度调节，证实了该可变刚度机制的可行性。
原文摘要 · Abstract (English)
This paper introduces a novel variable stiffness mechanism termed Helically Wound Structured Electrostatic Layer Jamming (HWS-ELJ) and systematically investigates its potential applications in variable stiffness robotic finger design. The proposed method utilizes electrostatic attraction to enhance interlayer friction, thereby suppressing relative sliding and enabling tunable stiffness. Compared with conventional planar ELJ, the helical configuration of HWS-ELJ provides exponentially increasing stiffness adjustment with winding angle, achieving significantly greater stiffness enhancement for the same electrode contact area while reducing the required footprint under equivalent stiffness conditions. Considering the practical advantage of voltage-based control, a series of experimental tests under different initial force conditions were conducted to evaluate the stiffness modulation characteristics of HWS-ELJ. The results demonstrated its rational design and efficacy, with outcomes following the deduced theoretical trends. Furthermore, a robotic finger prototype integrating HWS-ELJ was developed, demonstrating voltage-driven stiffness modulation and confirming the feasibility of the proposed robotic variable stiffness mechanism.
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