Directional Stiffness Control Through Geometric Patterning and Localized Heating of Field’s Metal Lattice Embedded in Silicone

Abstract

This research explores a new realm of soft robotic materials where the stiffness magnitude, directionality, and spatial resolution may be precisely controlled. These materials mimic biological systems where localized muscle contractions and adjustment of tissue stiffness enables meticulous, intelligent movement. Here we propose the use of a low-melting-point (LMP) metal lattice structure as a rigid frame using localized heating to allow compliance about selectable axes along the lattice. The resulting shape of the lattice is modeled using product of exponentials kinematics to describe the serial chain of tunably compliant axes; this model is found to match the behavior of the physical test piece consisting of a Field’s metal (FM) lattice encased in silicone rubber. This concept could enable highly maneuverable robotic structures with significantly improved dexterity.