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.
Matejam: Multi-material teeth-clutching layer jamming actuation for soft haptic glove
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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.