A variable stiffness omnidirectional chain based on positive-pressure fiber jamming

Zhang, Shuai; Yao, Jiantao

doi:10.5194/ms-17-481-2026

Articles | Volume 17, issue 1

https://doi.org/10.5194/ms-17-481-2026

© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.

https://doi.org/10.5194/ms-17-481-2026

© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.

Articles | Volume 17, issue 1

Research article

|

05 May 2026

Research article |

| 05 May 2026

A variable stiffness omnidirectional chain based on positive-pressure fiber jamming

Shuai Zhang and Jiantao Yao

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Cumulative views and downloads (calculated since 05 May 2026)

Month	HTML	PDF	XML	Total
May 2026	128	21	14	163
Jun 2026	15	4	2	21
Jul 2026	37	7	5	49
Aug 2026	25	13	0	38
Sep 2026	64	20	3	87

Latest update: 19 Sep 2026

Short summary

This work presents a robotic chain that can smoothly shift from flexible to rigid using air pressure. We developed a new method that applies pressure to compact internal fibers, allowing the chain to become significantly stiffer than previous designs. Through theoretical modeling and physical testing, we demonstrated reliable and wide-ranging stiffness control. This advancement enables the creation of machines that are both safe for interaction and capable of performing demanding tasks.