Recently, soft robots using soft materials are presented. Thanks to soft materials, soft robots have flexible, highly-stretchable or adaptable features. However, due to the flexibility of soft material, it is hard for soft robots to control accurately or perform high force. To deal with these limitations, variable stiffness technology, which enables the stiffness control of structure, has been developed. In this research, a dual-stiffness structure that is actuated by the assembly of two flexible structures are presented. Each flexible structure consists of flexible film part and rigid parts placed at regular intervals. The flexibility of film between rigid parts allows each structure to move softly. On the other hand, by combining two structures rigid part of each part constrain the degrees of freedom of the other side part. And this causes the stiffness of whole structure to be increased. This paper will cover concepts, design, analysis and experiments of this structure.

Semi-rigid pavement is one of excellent paving methods adopting merits of asphalt-concrete and concrete paving. However, conventional paving methods were mainly used on the new constructed roads. Therefore, in this research we have examined the possibility of using the semi-rigid pavement on occupied roads. Also, confirmed the early-open possibility of pavement by applying the rapid hardening binding material to semi-rigid pavement.