Monash University

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Reason: Under embargo until 14 September 2024. After this date a copy can be supplied under Section 51(2) of the Australian Copyright Act 1968 by submitting a document delivery request through your library

Design and Development of a Stiffness Varying Soft Robot Arm Module

posted on 2023-09-14, 07:26 authored by ZHI HUI CHIN
This thesis explores the design and development of a stiffness-varying soft robot arm. Compliant materials were implemented, enabling it to bend and extend while having internal stiffening mechanisms. Various prototypes were fabricated using silicone casting and 3D printing. The experiments conducted revealed that increased pressures and presence of a stiffening mechanism contributes to force increase exerted by the soft robot arm. Moreover, an increase in strength was also observed with a greater vacuum pressure in the stiffening mechanism. The findings contribute to the development of soft robot arms with improved capabilities compared to the state of the arts.


Campus location


Principal supervisor

Chee Pin Tan

Additional supervisor 1

Surya G. Nurzaman

Year of Award


Department, School or Centre

School of Engineering (Monash University Malaysia)


Master of Engineering Science (Research)

Degree Type



Faculty of Engineering