Variable stiffness mechanisms as Jamming Transition draw huge attention recently in Soft Robotics. This paper proposes a comprehensive design methodology for developing variable stiffness devices based on layer jamming. Starting from pre-existing modelling, we highlight the design parameters that should be considered, extracting them from literature and our direct experience with the phenomenon. Then we validated the methodology applying the design process to previous layer jamming cases presented in literature. The comparison between the results obtained from our methodology and those presented in the analyzed previous works highlights a good predictive capability, demonstrating that this methodology can be used as a valid tool to design variable stiffness devices based on layer jamming transition. Finally, in order to provide the scientific community with an easily usable tool to design variable stiffness structures based on layer jamming transition, we have elaborated a Matlab script that guides the user through the main design parameters implementing the proposed methodology in an interactive process.

作为干扰过渡的可变刚度机制最近在软机器人中引起了极大的关注。本文提出了一种用于开发基于层干扰的可变刚度设备的综合设计方法。从预先存在的建模开始，我们突出了应该考虑的设计参数，从文献和我们对该现象的直接经验中提取它们。然后我们验证了将设计过程应用于文献中介绍的先前层干扰案例的方法。从我们的方法获得的结果与之前分析的工作中提出的结果之间的比较突出了良好的预测能力，表明该方法可用作设计基于层干扰过渡的可变刚度设备的有效工具。最后，