Variable Compliance Wheel

Abstract

A system for adjusting the compliance of a wheel is provided. In one embodiment, wheel segments are adjusted, causing the stiffness of the wheel to change. Such adjustments can be made while the wheel is rotating, allowing the wheel compliance to be changed while a vehicle is in motion.

What is claimed is: 
     
         1 . A rotatable wheel for traversing a surface comprising:
 a rim;   a plurality of radial elements extending from the rim;   the plurality of radial stiffening elements composed of a shape memory alloy;   the plurality of radial stiffening elements being movable based on conditions of the surface being traversed.   
     
     
         2 . The rotatable wheel of  claim 1 , wherein a flexible tread band circumscribes the plurality of radial stiffening elements. 
     
     
         3 . The rotatable wheel of  claim 1 , wherein the radial stiffening elements are curved. 
     
     
         4 . The rotatable wheel of  claim 1 , wherein the radial stiffening elements form a toroid-shape ring around the rim. 
     
     
         5 . The rotatable wheel of  claim 1 , wherein ends of the radial stiffening elements are disposed at different positions along a thickness of the rim. 
     
     
         6 . The rotatable wheel of  claim 1 , wherein the radial stiffening elements are adjustably positioned along an axis of the rim to thereby adjust a firmness of the rotatable wheel.