Methods and apparatus for layer jamming

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United States of America Patent

PATENT NO 9664210
SERIAL NO

14516039

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Abstract

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In some implementations, bending or other shape changes of a device are actuated by inflating or deflating a bladder in the device. Then, once the desired new shape is achieved by this actuation, another bladder in the device is layer-jammed, to make the device rigid in the new shape. In some cases, sheets in the layer-jamming bladder are coated with abrasive particles. In some cases, layer jamming bladders are interwoven to form a woven device. The rigidity of the woven device can be anisotropically controlled. Layer jamming some, but not all, of the bladders in the woven device causes the woven device to have a rigidity that varies by direction. In some cases, a layer-jamming bladder includes a solid layer with a crease in it. As a result, the bladder can easily bend at the crease.

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Patent Owner(s)

Patent OwnerAddress
MASSACHUSETTS INSTITUTE OF TECHNOLOGY77 MASSACHUSETTS AVENUE CAMBRIDGE MA 02139

International Classification(s)

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Ishii, Hiroshi Cambridge, US 343 5139
Ou, Jifei Cambridge, US 19 140
Tauber, Daniel Edling, DE 5 66
Yao, Lining Cambridge, US 21 1469

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