Snap-through Joint and Soft Robot Comprising the Same

This technology is a variable-stiffness joint that utilizes pneumatic-based snap-through buckling to actuate mechanical structures. It relates to a snap-joint module that deforms the shape of a soft robot by placing a snap-joint section between two pneumatically pressurized members.

Conventional pneumatic network-based soft robots require complex, separate input controls for every movement and continuous pressure supply to maintain their deformed state.

This technology proposes a design that combines an elastic shell capable of snap-through behavior via pneumatics with a tendon structure, enabling both shape deformation and state retention with a single input control. This allows the deformed shape to be stably maintained without the need for continuous pressure supply. It significantly reduces the burden on pressure supply systems in applications requiring lightweight and low-power operation, such as medical assistive devices, wearable technology, and grippers, thereby expanding the practical range of soft robots.

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Key Features:

• A first member having a first internal space to which pneumatic pressure is applied
• A second member having a second internal space to which pneumatic pressure is applied
• A snap-joint section connecting the first and second members, capable of snap-through behavior via applied pneumatic pressure
• A control unit that regulates the pneumatic pressure applied to the internal spaces of the first and second members