Two-layer mechanical jamming with tooth protrusions delivers up to 5x stiffness increase under bending and 3.2x under torsion, plus measured layer separation forces.
Principles and methods for stiffness modulation in soft robot design and development
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An Experimental Characterization of Mechanical Layer Jamming Systems
Two-layer mechanical jamming with tooth protrusions delivers up to 5x stiffness increase under bending and 3.2x under torsion, plus measured layer separation forces.