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Human fingers achieve exceptional dexterity and adaptability by combining structures with varying stiffness levels, from soft tissues (low) to tendons and cartilage (medium) to bones (high). This paper explores developing a robotic finger…
Diverging correlation lengths on either side of the jamming transition are used to formulate a rheological model of granular shear flow, based on the propagation of stress through force chain networks. The model predicts three distinct flow…
Novel robotic grippers have captured increasing interests recently because of their abilities to adapt to varieties of circumstances and their powerful functionalities. Differing from traditional gripper with mechanical components-made…
This paper develops model-based grasp planning algorithms for assembly tasks. It focuses on industrial end-effectors like grippers and suction cups, and plans grasp configurations considering CAD models of target objects. The developed…
Soft pneumatic actuators with integrated strain limiting layers have emerged as predominant components in the field of soft gripper technology for several decades. However, owing to their intrinsic strain-limiting layer design, these soft…
We show how rigidity emerges in experiments of sheared frictional granular materials by using generalizations of two methods for identifying rigid structures. Both approaches, the force-based dynamical matrix and the topology-based rigidity…
Handling oversized, variable-shaped, or delicate objects in transportation, grasping tasks is extremely challenging, mainly due to the limitations of the gripper's shape and size. This paper proposes a novel gripper, Lasso Gripper. Inspired…
This study proposes a novel robotic gripper with variable grasping configurations for grasping various objects. The fingers of the developed gripper incorporate multiple different surfaces. The gripper possesses the function of altering the…
We propose a novel tri-fingered soft robotic gripper with decoupled stiffness and shape control capability for performing adaptive grasping with minimum system complexity. The proposed soft fingers adaptively conform to object shapes…
Shape-morphing robots have shown benefits in industrial grasping. We propose form-flexible grippers for adaptive grasping. The design is based on the hybrid jamming and suction mechanism, which deforms to handle objects that vary…
Industrial laparoscopic graspers use multi-link rigid mechanisms manufactured to tight tolerances, resulting in high manufacturing and assembly costs. This work presents the design and proof-of-concept validation of a monolithic, fully…
We have recently developed some simple continuum models of static granular media which display "fragile" behaviour: they predict that the medium is unable to support certain types of infinitesimal load (which we call "incompatible" loads)…
This study proposed a novel robotic gripper that can achieve grasping and infinite wrist twisting motions using a single actuator. The gripper is equipped with a differential gear mechanism that allows switching between the grasping and…
In the present short note, we generalize simple approximate Johnson-Jaffar-Barber solutions for the indentation by a rigid punch of a thin elastic layer on a rigid foundation to the case of adhesion. This could be an interesting geometry…
A key challenge in robotics is to create efficient methods for grasping objects with diverse shapes, sizes, poses, and properties. Grasping with hand-like end effectors often requires careful selection of hand orientation and finger…
Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…
Self-shaping of curved structures, especially those involving flexible thin layers, has attracted increasing attention because of their broad potential applications in e.g. nanoelectromechanical/micro-electromechanical systems (NEMS/MEMS),…
This paper deals with the design of non-coherent jamming strategies capable of ensuring spectral compatibility with friendly radio frequency (RF) emitters. The goal is achieved via a cognitive approach, which, after recognizing the presence…
This paper presents a fixturing strategy for regrasping that does not require a physical fixture. To regrasp an object in a gripper, a robot pushes the object against external contact/s in the environment such that the external contact…
Mechanical non-reciprocity-manifested as asymmetric responses to opposing mechanical stimuli-has traditionally been achieved through intricate structural nonlinearities in metamaterials. However, continuum solids with inherent…