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