ECHINODERM INSPIRED VARIABLE STIFFNESS SOFT ACTUATOR CONNECTED OSSICLE STRUCTURE AND ROBOT APPARATUS COMPRISING THE SAME극피동물의 골편 구조를 모방한 가변 강성 소프트 액추에이터 및 그를 포함하는 로봇 장치
Various embodiments provide a variable stiffness soft actuator inspired by an ossicle structure of echinoderm and a robot apparatus including the same. According to various embodiments, the soft actuate includes a plurality of ossicle elements arranged in a specific structure, wherein an interval between the plurality of ossicle elements is maintained or reduced depending on vacuum generation to change the stiffness of the soft actuator.