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Fibre jamming is a relatively new and understudied soft robotic mechanismthat has previously found success when used in stiffness-tuneable arms andfingers. However, to date researchers have not fully taken advantage of thefreedom offered by contemporary fabrication techniques including multi-material3D printing in the creation of fibre jamming structures. In this research, wepresent a novel, modular, multi-material, 3D printed, fibre jamming tendon unitfor use in a stiffness-tuneable compliant robotic ankle, or Jammkle. Wedescribe the design and fabrication of the Jammkle and highlight its advantagescompared to examples from modern literature. We develop a multiphysics model ofthe tendon unit, showing good agreement with experimental data. Finally, wedemonstrate a practical application by integrating multiple tendon units into arobotic ankle and perform extensive testing and characterisation. We show thatthe Jammkle outperforms comparative leg structures in terms of compliance,damping, and slip prevention.

Jammkle: Fibre jamming 3D printed multi-material tendons and their application in a robotic ankle