2014 IEEE/RSJ International Conference onIntelligent Robots and Systems (IROS 2014)
September 14-18, 2014, Chicago, IL, USA

Variable Stiffness Fabrics with Embedded Shape Memory Materials for
Wearable Applications
Thomas P. Chenal1,2 , Jennifer C. Case1 , Jamie Paik3 and Rebecca K. Kramer1∗
Abstract— Materials with variable stiffness have the potential
to provide a range of new functionalities, including systemreconfiguration by tuning the location of rigid links and joints.
In particular, wearable applications would benefit from variable
stiffness materials in the context of active braces that may
stiffen when necessary and soften when mobility is required.
In this work, we present fibers capable of adjusting to provide
variable stiffness in wearable fabrics. The variable stiffness
fibers are made from shape memory materials, where shapememory alloy (SMA) is coated with a thin film of shapememory polymer (SMP). The fibers, which are fabricated via acontinuous feed-through process, reduce in bending stiffness byan order of magnitude when the SMP goes through the glasstransition. The transition between rubbery and glassy state isaccomplished by direct joule heating of the embedded SMA
wire. We employ a COMSOL model to relate the current input
to the time required for the fibers to transition between stiffness
states. Finally, we demonstrate how this device can be worn andact as a joint stability brace on human fingers.

require external equipment, which limits the scalability andmobility of the integrated system. A more scalable solution
has been achieved through use of elastomers embedded withlow-melting-temperature-alloys; the alloy is melted either bydirect heating [10] or with the use of an embedded heater[11], resulting in material compliance enabled by phasechange.

I. I NTRODUCTION
Systems and materials that can controllably change theirstiffness are useful in a broad range of applications and havethe potential to revolutionize human-robot interaction. In thecontext of traditional rigid robots, there is currently interestin variable stiffness springs that allow the system to actively
soften [1], [2]. However, while the joints may be softened tosome extent, the links are still rigid and unyielding. In theautomotive industry, magnetorheological fluids have allowed
variable stiffness by controlling magnetic particles dispersed
into a fluid via magnetic fields. Applications of these fluids
are extending into other fields, such as medical devices [3]and soft robotics [4].
A growing interest in soft robotics has led to an increased
interest in variable stiffness of soft materials. Some recent
examples of variable stiffness materials include soft robotic
manipulators that operate using pneumatic particle jamming[5], [6], [7] or layer jamming [8]. These manipulators function via the loosening of particles or layers by removing
a vacuum, thus allowing the robot to move; reapplicationof the vacuum causes rigidity to be regained. Variable
stiffness of elastomers has been achieved by embedding theelastomer with magnetic particles and altering the magnetic
field around the polymer [9]. However, devices of this nature∗ Authortowhom

correspondence

shouldbe

addressed

rebeccakramer@purdue.edu
1 School of Mechanical Engineering, Purdue University, West Lafayette,
IN 47907, USA
2 Department of Materials Science and Engineering, Ecole PolytechniqueFédérale de Lausanne, 1015 Lausanne, Switzerland
3 Department of Mechanical Engineering, Ecole Polytechnique Fédéralede Lausanne, 1015 Lausanne, Switzerland

978-1-4799-6934-0/14/$31.00 ©2014 IEEE

Fig. 1. Top: Variable stiffness fabric curled into a spiral. Bottom: Variable
stiffness fabric shaped into an oscillatory pattern.

Planar and conformable systems represent an intriguing
new class of soft wearable robotics. Current work on actuatedsoft wearable systems includes active soft orthotic devices
based on pnuematics [12], [13] and shape memory alloy [14],as well as a soft exosuit made from pneumatic actuatorsand inextensible webbing [15]. A major challenge in thisemerging field is in designing integrated wearable systems
that do not constrain the natural motions of the wearer. Alongthese lines, we believe that the future of wearable systems
will include smart fabrics, as fabric is a readily available
2D platform that is conformable and heavily integrated
into our everyday lives as a wearable material. Along withenhancing fabrics with actuation and sensing capabilities,
many wearable applications will require variable stiffness
materials to provide joint or wound stability as well. We
envision wearable fabric-based active stability braces that
may stiffen to stabilize a joint during exertion or injury, andsoften to allow mobility and agility to the wearer.
In this work, we present variable stiffness fibers withintegrated joule heating by combining shape memory alloy(SMA; nickel titanium [NiTi]) wire with shape memory
polymer (SMP; polylactic acid [PLA]), where the NiTi wireis only used as the electrical heater for the polymer instead ofa shape memory material. The resulting fibers are then sewn
into a fabric to create a variable stiffness fabric, which may

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be employed as an active wearable brace for joint stability.
NiTi was chosen as the heating element due to its availability,
high electrical and thermal conductance, as well as futureplans to exploit the shape memory effect to develop variable
stiffness actuators. PLA was chosen as the coating for its
availability, ease of processing, and desirable glass transition
temperature. Even though PLA has a shape memory effect,
it is very weak and the polymer is not developed for thispurpose, so for this work the PLA is used for its change instiffness while going through the glass transition temperature.
II. FABRICATION
A. Coated wire production

potential of the fabric. The fabric used here is a black woven
plain-weave of very thin polyester where the thickness is lessthan a tenth of a millimeter. Hence, the overall stiffness of
the integrated fabric is provided by the SMA/PLA fibers.
When the PLA is heated above its glass transition, the fabriccan be easily deformed to any type of shape; as the polymertransitions back to the glassy state, the polymer stiffens tohold its shape, as seen in Figures 1 and 4. When reheated andunder no external load, the fabric tends to go back towards
its initial shape due to the slight memory effect of the PLA.
However, this takes between 10 − 30 seconds depending on
the deformed shape and the input current, and it can neverfully recover its original shape.

Fig. 3.

Variable stiffness fibers sewn onto fabric.

Fig. 2. Setup built for coating the SMA with a shape memory polymer(PLA). Polymer pellets (1) are melted onto SMA wire (2) to create a
uniformly coated fiber (3) via a brass structure (4).

The setup used for the fiber fabrication is presented in
Figure 2. It is made of a brass T-junction with both sides
fitted with two bolts with pre-drilled holes. The diameter ofthe hole by the entrance of the SMA is close to the SMA wire
diameter, while the exiting hole’s diameter is sized to thedesired PLA coated SMA wire diameter. The entire structureis heated on a hot plate to 200◦ C, which is sufficiently higher
than the melting temperature of the PLA (Tm = 150◦ C).
Polymer pellets are fed into the top of the setup. When thepolymer is melted, the SMA wire is pulled slowly throughthe setup manually. During the process, a constant feeding ofpolymer is maintained to achieve a quasi-continuous process
and relatively uniform coating of PLA on SMA.
The overall diameter of the composite fiber can easily
be tuned by varying the size of the exit hole, which willsubsequently adjust the thickness of the polymer coatingaround the SMA. For the purpose of this work, the diameter of the fiber produced was held constant at approximately 1.2(±0.1) mm with an inner NiTi wire diameter of
0.254 mm.
B. Variable stiffness fabricAfter coating, the fibers are cut to a predefined length,
here about 230 mm, and then sewn onto a piece of fabric tocreate a variable stiffness fabric. The produced fabric sample
is shown in Figure 3. Figure 4 shows the stiffness variation

Fig. 4. Variable stiffness fabric in stiff (top) and soft (bottom) states. The
mass shown in the image is 63.5 g.

III. E XPERIMENT
A. Material properties
The variable stiffness fibers all employ a 0.254 mm NiTi
wire provided by Dynalloy, Inc. The majority of the PLA
used was provided by Open Source Printing, LLC, which istransparent; exceptions include the PLA used for the fabricsample shown in Figure 3 where a PLA with white colorant
was used. The PLA is used in this work as a variable
stiffness material; when joule heated by the NiTi wire, itreaches the glass transition temperature, thereby transitioning2828

from glassy to rubbery state and thus, reducing its bending
stiffness.
A differential scanning calorimetry (DSC) test was performed on the PLA. This test is a thermo-analysis techniquethat measures the difference in heat flux between the sample
and a reference, usually air, as a function of the temperature.
This allows us to determine the precise temperature of any
physical transformation. The PLA sample was heated fromroom temperature to 300◦ C at 10◦ C/min. The resulting plotis shown Figure 5.

Fig. 7.

Fig. 5. Differential scanning calorimetry test of the PLA; tested on a PLA
pellet.

B. COMSOL Simulation
A COMSOL simulation was performed to determine thethermal response of the fiber with a selection of different
current values. The simulated fiber presented in Figure 6 had
the same dimensions as the fibers described in the fabrication
section. The SMA wire length was 150 mm with a PLA
coating that is 120 mm long in the center. Based on thegeometry of the wire, the simulation was performed using
an axially symmetric model. The initial temperature of boththe SMA and the polymer were set to 20◦ C. The boundary
conditions for the SMA and the PLA in direct contact withthe were defined as convection and the boundary between the
SMA and the PLA was considered to be perfect, meaningthat the temperature gradient continues at the interface.
Results for the COMSOL simulation are given in the next
section.

Three point bending test setup.

Instron 3345 material testing machine with a 5 kN flexural
fixture and a 50 N load cell. The setup can be seen in
Figure 7. The samples tested were 120 mm long, with adiameter of approximately 1.2 mm. The support span was
set at 40 mm for the single fiber test and at 50 mm forthe fabric. The sample was loaded at 2 mm/min until thedeflection reached 10 mm for the fiber and 8 mm for the
fabric. Two tests were done on both the single fiber andthe fabric: one with no input current and one with an input
current of 0.60 A. Each test was performed three times forboth the single fiber and fabric and the data from these runs
were averaged together.
IV. R ESULTS AND D ISCUSSION
A. Material properties
The DSC test result in Figure 5 shows two endothermic
events. The first one occurs at approximately 60◦ C andcorresponds to the glass transition of the material. The
second event occurs around 150◦ C and corresponds to themelting temperature of the PLA. This data is used in the
COMSOL simulations to help determine the ideal current
for heating the fibers.
B. COMSOL Simulation

Fig. 6. Dimensions of a fiber comprised of NiTi SMA (1) and polymer
coating (2).

C. Mechanical testingThree point bending tests were performed on the single
fibers and the whole fabric. The tests were performed on an

Figure 8 shows that the heating speed and the final temperature is directly related with the input current. Figure 8(a)represents the thermal response of the outer surface at thecenter of the fiber. For the fiber to become completely soft,
all of the PLA coating should go through the glass transition
temperature, denoted by Tg on the graph. Based on thesimulation, an input current greater than 0.32 A should fulfill
this requirement. It should be noted that because this is a

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(a)

(b)

Fig. 8. COMSOL simulations for: (a) The outer surface at the center of the fiber from I=0.3 A to 0.42 A in 0.02 A increments. The dashed line indicatesthe glass transition temperature of PLA. (b) The PLA-SMA interface near the end of the fiber from I=0.46 A to 0.56 A in 0.02 A increments. The dashedline indicates the melting point of PLA.

(a)

(b)

Fig. 9. Three point bending tests of the variable stiffness fiber (a) and the variable stiffness fabric, containing 10 individual fibers (b). Data represent the
average of 3 tested samples, and shaded regions represent one standard deviation.

simulation, all materials are assumed to be free of impurities
and interfaces are modeled as perfect, which may yielddiscrepancies in empirical testing. Experimentally, we founda current of 0.3 A was not enough to soften the fiber andthat a current of at least 0.45 A had to be used in order to
see a softening of the fiber.
Figure 8(b) represents the thermal response at the interface
between the PLA and SMA near the end of the fiber. As
shown in the graph, too high of an input current leads to a
final temperature above the melting point, denoted by Tm ,which can permanently damage the device by loosening the
PLA from the SMA wires. It was observed experimentallythat when the current was set too high, PLA would melt in
the center and then recrystallize as the fiber cooled down,
creating a non-transparent coloring in the fiber.
Based on the COMSOL simulation, an input current of
0.54 A is the best choice to reach the glass transition as fast
as possible without any risk of melting the PLA. With this
input current, the PLA coating should reach a rubbery statein less than 15 s. Due to the impurities that exist in the actual
fibers, an input current of 0.60 A was used during testing,which yielded a rubbery state in less than 15 s, as predictedin the simulation.

C. Mechanical testing
Material resistance to deflection, as measured by the threepoint bending tests, for both the single fiber and fabric isshown in Figure 9. It can be seen from Figure 9(a) that thetransition of the PLA from glassy to rubbery state induces
a drop in the bending resistance by more than 10 times in asingle fiber. For the test in the glassy state, two behaviors canbe seen in the results: one for the elastic state and one forthe plastic state. The elastic state corresponds to the linear
behavior at the beginning of the curve. The material enters
plastic state when the linear behavior ends. In the rubbery
state, the material stays in the elastic state within the entire
deformation range. The mechanical behavior of the fabric issimilar to that of the single fiber. However, due to the smaller
final deformation and larger span distance, both curves stayin the elastic state. In the future this deflection data canbe used to determine the stiffness of the fibers/fabric byobtaining the flexural modulus of the composite material.
V. VARIABLE STIFFNESS FABRIC APPLICATION
Figure 10 demonstrates the wearability of the variable
stiffness fabric. When the PLA is in a glassy state, the fabricprevents movement around the joints, keeping the fingers in

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a given position. This state can be used to support a joint
during the recovery of an injury. When joint movement isneeded, the fabric can be heated. This softens the fabric
to allow for movement. To lock the fabric in place again,
the current can be powered off and cooled down by thesurrounding environment. It should be noted that based on
both the COMSOL simulation and thermal imaging, themaximum temperature felt at the skin was around 48◦ C.
At this temperature the exposure time must be limited to 40
seconds to prevent acute and minor skin burns [16]. During
our experiments, heating and reconfiguration cycles whereconsistently under 40 seconds and no user discomfort wasnoticed.

Fig. 10. Demonstration of the variable stiffness fabric on a finger joint.
Heating and cooling of embedded variable stiffness fibers allows the fabricto change configuration or rigidly hold its shape, respectively.

VI. C ONCLUSION AND F UTURE WORK
We have developed a new, fast, and simple way of producing thermally activated variable stiffness fabrics with embedded heaters by coating SMA wire with PLA and sewing
the resulting fibers onto the fabric. The fabric presented
here demonstrates an order of magnitude change in bending
stiffness within less than 15 s when the PLA goes throughthe glass transition. This technology has high potential inrobotics applications and especially in wearable devices, as
demonstrated.
Future work will look at integrating these variable stiffness
fibers with programmed SMA. This means that the SMA willpull the fibers to a given position, while the PLA will lockthat position in place until the fibers are reheated. Future
work will also focus on the fabrication of these fibers to
improve precision and consistency. The fibers can also be
improved by replacing the PLA with another SMP that has
a lower glass transition temperature, which would reduce theresponse time of the fibers.

ACKNOWLEDGMENT
The authors would like to thank Malina Padgett from theApparel Design and Technology Major at Purdue University
for her help with the fabric integration. They are also very
grateful to Prof. Jeffrey Youngblood and Gamini Mendis
from the Department of Material Engineering at Purdue forletting us use their DSC machine.
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