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Stiffness variation and real-time position feedback are critical for anyrobotic system but most importantly for active and wearable devices to interactwith the user and environment. Currently, for compact sizes, there is a lack ofsolutions bringing high-fidelity feedback and maintaining design and functionalintegrity. In this work, we propose a novel minimal clutch with integratedstiffness variation and real-time position feedback whose performance surpassesconventional jamming solutions. We introduce integrated design, modeling, andverification of the clutch in detail. Preliminary experimental results show thechange in impedance force of the clutch is close to 24-fold at the maximumforce density of 15.64 N/cm2. We validated the clutch experimentally in (1)enhancing the bending stiffness of a soft actuator to increase a softmanipulator's gripping force by 73%; (2) enabling a soft cylindrical actuatorto execute omnidirectional movement; (3) providing real-time position feedbackfor hand posture detection and impedance force for kinesthetic haptic feedback.This manuscript presents the functional components with a focus on theintegrated design methodology, which will have an impact on the development ofsoft robots and wearable devices.

Compact pneumatic clutch with integrated stiffness variation and position feedback