Actuation concepts for variable stiffness materials

A deformable apparatus having a transformable state of stiffness, the deformable apparatus comprising:

• a variable stiffness material (VSM) structure having a first shape and comprising:
• a plurality of constant stiffness material layers;
• and
• a plurality of variable modulus material layers arranged in alternating layers with the plurality of constant stiffness material layers, the plurality of variable modulus material layers comprising a material having a changeable elastic modulus in response to a trigger to allow reversible coupling and decoupling of stress transfer between successive layers of the plurality of constant stiffness material layers to provide a change in the transformable state of stiffness of the VSM structure;
• and
• one or more actuation elements controlled to deform the VSM structure from the first shape to a second shape by providing actuation, upon transformation of the structure from a first state of stiffness to a second state of stiffness while maintaining the first shape, the second state having a lower degree of stiffness than the first state,
• wherein the one or more actuation elements are controlled to provide deformation within the VSM structure to result in a change in shape of the deformable apparatus while the VSM structure is in the second state of stiffness, and
• wherein the VSM structure is adapted to transform back from the second state of stiffness to the first state of stiffness while maintaining the second shape.