---
publication_id: "OT-2026-000001872"
title: "Soft variable impedance actuator using embedded jamming layer"
published_at: "2026-09-15T19:09:11.899306Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001872"
categories:
  - "industrial-motion-power-transmission/fluid-power"
keywords:
  - "f15b15/103"
  - "f15b15/103"
  - "f15b15/103"
  - "b25j19/00"
  - "b25j19/0004"
  - "b25j19/0004"
---

# Soft variable impedance actuator using embedded jamming layer

## 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.