ECHINODERM INSPIRED VARIABLE STIFFNESS SOFT ACTUATOR CONNECTED OSSICLE STRUCTURE AND ROBOT APPARATUS COMPRISING THE SAME

Abstract

Various embodiments provide a variable stiffness soft actuator inspired by an ossicle structure of echinoderm and a robot apparatus including the same. According to various embodiments, the soft actuate includes a plurality of ossicle elements arranged in a specific structure, wherein an interval between the plurality of ossicle elements is maintained or reduced depending on vacuum generation to change the stiffness of the soft actuator.