OPENTECHNICAL PUBLICATION
OT-2026-000001697

Variable stiffness actuator systems and methods

Published: 2026-09-15T19:07:44.905417Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001697
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

A bendable actuator and methods for operating the bendable actuator are
disclosed. Embodiments include an actuator that bends when a plurality of
chambers are filled with a gas or fluid, and a stiffness beam that inhibits
the bending of the actuator in the region of the actuator adjacent the
stiffness beam. Some embodiments include a slider chamber in which the
stiffness beam moves, and can include a closed-loop cable and motorized pulley
system to selectively position the stiffness beam at different locations
within the slider chamber. Additional embodiments include the plurality of
chambers being vertically disposed and being connected to one another only at
the lower portions of the chambers, while further embodiments include the
plurality of chambers being vertically disposed and alternatingly connected at
upper and lower portions of the chambers to form a sinusoidally-shaped
chamber.

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OpenTechnical publication OT-2026-000001697
Published 2026-09-15T19:07:44.905417Z
https://opentechnical.org/p/OT-2026-000001697