Related papers: Radial-Layer Jamming Mechanism for String Configur…
Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
Fruit harvesting has recently experienced a shift towards soft grippers that possess compliance, adaptability, and delicacy. In this context, pneumatic grippers are popular, due to provision of high deformability and compliance, however…
This paper is a summary of the recently accomplished research work on flexible gripping systems. The goal is to develop a gripper which can be used for a great amount of geometrically variant workpieces. The economic aspect is of particular…
This letter presents a novel small gripper capable of grasping various types of small-sized items from flat surfaces for the assembly of small devices. Using a single actuator, the proposed gripper realizes two grasping modes: parallel-grip…
Although the multi-jointed underactuated manipulator is highly dexterous, its grasping capacity does not match that of the parallel jaw gripper. This work introduces a fractal gripper to enhance the grasping capacity of multi-joint…
Jamming is a fundamental transition that governs the mechanical behavior of particulate media, including sand, foam and dense suspensions but also biological tissues: Upon compression, particulate media can change from freely flowing to a…
We introduce a novel design of parallel-jaw grippers drawing inspiration from pin-pression toys. The proposed pin-pression gripper features a distinctive mechanism in which each finger integrates a 2D array of pins capable of independent…
The connection between friction and jamming in granular media, molecular glasses, and complex fluids is explored. The paper first reviews the way friction is measured, the types of results that are observed, and what is known about the…
A granular gripper is a device used to hold objects by taking advantage of the phenomenon of Reynold's dilatancy. A membrane containing a granular sample is allowed to deform around the object to be held and then vacuum is used to jam the…
The motion of a vibrating object is determined by the way it is held. This simple observation has long inspired string instrument makers to create new sounds by devising elegant string clamping mechanisms, whereby the distance between the…
Confinement of a slender body into a granular array induces stress localization in the geometrically nonlinear structure, and jamming, reordering, and vertical dislocation of the surrounding granular medium. By varying the initial packing…
Physical layer security has been recently recognized as a promising new design paradigm to provide security in wireless networks. In addition to the existing conventional cryptographic methods, physical layer security exploits the dynamics…
Grip surfaces with tunable friction can actively modify contact conditions, enabling transitions between higher- and lower-friction states for grasp adjustment. Friction can be increased to grip securely and then decreased to gently release…
We measure the displacement response of a frictional multicontact interface between identical polymer glasses to a biased shear force oscillation. We evidence the existence, for maximum forces close below the nominal static threshold, of a…
This paper introduces a novel variable stiffness mechanism termed Helically Wound Structured Electrostatic Layer Jamming (HWS-ELJ) and systematically investigates its potential applications in variable stiffness robotic finger design. The…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
In this paper, design and development of a sensor integrated adaptive gripper is presented. Adaptive grippers are useful for grasping objects of varied geometric shapes by wrapping fingers around the object. The finger closing sequence in…
Manipulation of three-dimensional (3D) topological objects is of both fundamental interest and practical importance in many branches of physics. Here, we show by spin dynamics simulations that the bifurcation of a 3D skyrmion string in a…
The ability to adapt and conform to angular and uneven surfaces improves the suction cup's performance in grasping and manipulation. However, in most cases, the adaptation costs lack of required stiffness for manipulation after surface…
By considering a cigar-shaped trapping potential elongated in a proper curvilinear coordinate, we discover a new form of wave localization which arises from the interplay of geometry and topological protection. The potential is modulated in…