{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,16]],"date-time":"2026-10-16T22:07:46Z","timestamp":1792188466474,"version":"4.4.0"},"reference-count":45,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[2024,10,1]],"date-time":"2024-10-01T00:00:00Z","timestamp":1727740800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Soft Robotics"],"published-print":{"date-parts":[[2024,10,1]]},"abstract":"<jats:title>\n                    <jats:italic toggle=\"yes\">Abstract<\/jats:italic>\n                  <\/jats:title>\n                  <jats:p>\n                    Active control of the shape of soft robots is challenging. Despite having an infinite number of\n                    <jats:italic toggle=\"yes\">passive<\/jats:italic>\n                    degrees of freedom (DOFs), soft robots typically only have a few\n                    <jats:italic toggle=\"yes\">actively controllable<\/jats:italic>\n                    DOFs, limited by the number of degrees of actuation (DOAs). The complexity of actuators restricts the number of DOAs that can be incorporated into soft robots. Active shape control is further complicated by the buckling of soft robots under compressive forces; this is particularly challenging for compliant continuum robots due to their long aspect ratios. In this study, we show how variable stiffness enables shape control of soft robots by addressing these challenges. Dynamically changing the stiffness of sections along a compliant continuum robot selectively \u201cactivates\u201d discrete joints. By changing which joints are activated, the output of a single actuator can be reconfigured to actively control many different joints, thus decoupling the number of controllable DOFs from the number of DOAs. We demonstrate embedded positive pressure layer jamming as a simple method for stiffness change in inflated beam robots, its compatibility with growing robots, and its use as an \u201cactivating\u201d technology. We experimentally characterize the stiffness change in a growing inflated beam robot and present finite element models that serve as guides for robot design and fabrication. We fabricate a multisegment everting inflated beam robot and demonstrate how stiffness change is compatible with growth through tip eversion, enables an increase in workspace, and achieves new actuation patterns not possible without stiffening.\n                  <\/jats:p>","DOI":"10.1089\/soro.2023.0120","type":"journal-article","created":{"date-parts":[[2024,4,29]],"date-time":"2024-04-29T11:42:08Z","timestamp":1714390928000},"page":"779-790","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":23,"title":["Stiffness Change for Reconfiguration of Inflated Beam Robots"],"prefix":"10.1177","volume":"11","author":[{"given":"Brian H.","family":"Do","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, Stanford, California, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shuai","family":"Wu","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, Stanford, California, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ruike Renee","family":"Zhao","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, Stanford, California, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Allison M.","family":"Okamura","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Stanford University, Stanford, California, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2024,10,14]]},"reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_3_3_3_2","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-060117-105003"},{"key":"e_1_3_3_4_2","article-title":"Inflatable Structure","author":"Koren Y","year":"1991","unstructured":"Koren Y, , Weinstein Y. Inflatable Structure. Google Patents; 1991. U.S. Patent 5,065,640.","journal-title":"Google Patents"},{"key":"e_1_3_3_5_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.4025025"},{"key":"e_1_3_3_6_2","doi-asserted-by":"crossref","unstructured":"Perrot Y Gargiulo L Houry M et al. Long Reach Articulated Robots for Inspection in Hazardous Environments Recent Developments on Robotics and Embedded Diagnostics. In: International Conference on Applied Robotics for the Power Industry; 2010; pp. 1\u20135.","DOI":"10.1109\/CARPI.2010.5624425"},{"key":"e_1_3_3_7_2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00684.2004"},{"key":"e_1_3_3_8_2","doi-asserted-by":"crossref","unstructured":"Wall V Deimel R Brock O. Selective Stiffening of Soft Actuators Based on Jamming. In: IEEE International Conference on Robotics and Automation. IEEE; 2015; pp. 252\u2013257.","DOI":"10.1109\/ICRA.2015.7139008"},{"issue":"2193","key":"e_1_3_3_9_2","first-page":"20160504","article-title":"The interactive bending wrinkling behaviour of inflated beams","volume":"472","author":"Liu Y","year":"2016","unstructured":"Liu Y, , Wang C, , Tan H, et al. The interactive bending wrinkling behaviour of inflated beams. Proc R Soc A Math Phys Eng Sci, 2016; 472(2193):20160504.","journal-title":"Proc R Soc A Math Phys Eng Sci"},{"key":"e_1_3_3_10_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2020.0065"},{"key":"e_1_3_3_11_2","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201707136"},{"key":"e_1_3_3_12_2","doi-asserted-by":"crossref","unstructured":"Stilli A Wurdemann HA Althoefer K. Shrinkable Stiffness-Controllable Soft Manipulator Based on a Bio-Inspired Antagonistic Actuation Principle. 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