{
  "abstract": "A variable impedance actuator is provided with a bladder-style actuator having a first end and a second end, and a jamming brake located inside the bladder-style actuator and connected to the first end and the second end of the bladder-style actuator. The bladder-style actuator and the jamming brake are independently controlled.",
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    "UNIV LELAND STANFORD JUNIOR"
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  "authors": [
    "CHOI INRAK",
    "DO BRIAN H",
    "FOLLMER SEAN WESTON"
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  "published_at": "2026-09-15T19:09:11.899306Z",
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  "source_date": "2026-03-17",
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  "source_url": "https://patents.google.com/patent/US12577968B2",
  "supersedes": null,
  "title": "Soft variable impedance actuator using embedded jamming layer",
  "uuid": "01a0a679-235a-7dce-8a00-c54bdb699993"
}