A Variable Stiffness Joint with Electrostatic Giant Electrorheological Layer Jamming Based on AC Electric Field Control

A novel single-degree-of-freedom variable stiffness rotary joint is proposed, utilizing a variable damping force generated by the rotational shear of giant electrorheological fluid (GERF) under an alternating electric field to achieve stiffness adjustment. An electrostatic layer jamming stiffness model (ELJ-GERF) and a joint motion model based on GERF are developed and experimentally validated. The results demonstrate that the joint exhibits effective variable stiffness performance, confirming the validity of the design.