Finite element analysis of magnetorheological elastomers for stiffness variation in soft robots

Seyidoglu B., Atakuru T., Uyanik K., Samur E.

4th IEEE International Conference on Soft Robotics, RoboSoft 2021, Connecticut, United States Of America, 12 - 16 April 2021, pp.531-534 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/robosoft51838.2021.9479211
  • City: Connecticut
  • Country: United States Of America
  • Page Numbers: pp.531-534
  • Middle East Technical University Affiliated: Yes


© 2021 IEEE.Magnetorheological elastomers are one of the promising options for stiffness variation of soft robots due to their field-dependent behavior producing high stiffness change rapidly. In this study, we have developed a multiphysics finite element model to investigate this unique behavior with a possible application in soft robotics. Sample magnetorheological elastomers were produced, and an experimental setup was developed. Cantilever bending experiments were performed under varying external magnetic field to tune the model. Results show that the elastic modulus increases with increasing external magnetic field as well as dependency on the volume fraction. Additionally, a possible implementation of magnetorheological elastomers as a stiffening module for a soft continuum robot is discussed as well.