Related papers: Radial-Layer Jamming Mechanism for String Configur…
The formation of self-organised structures that resist shear deformation have been discussed in the context of shear jamming and thickening[1-3], with frictional forces playing a key role. However, shear induces geometric features necessary…
Granular grippers are highly adaptable end-effectors that exploit the reversible jamming transition of granular materials to hold and manipulate objects. Their holding force comes from the combination of three mechanisms: frictional forces,…
This paper reveals the potential of movable antennas in enhancing anti-jamming communication. We consider a legitimate communication link in the presence of multiple jammers and propose deploying a movable antenna array at the receiver to…
In this paper, we present a structured approach to selecting and designing a set of grippers for an assembly task. Compared to current experience-based gripper design method, our approach accelerates the design process by automatically…
By using smart radio devices, a jammer can dynamically change its jamming policy based on opposing security mechanisms; it can even induce the mobile device to enter a specific communication mode and then launch the jamming policy…
The rise in additive manufacturing comes with unique opportunities and challenges. Massive part customization and rapid design changes are made possible with additive manufacturing, however, manufacturing industries that desire the…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional rigid grippers typically rely on increasing the normal forces to secure an object,…
This paper proposes an adaptive pin-array fixture. The key idea of this research is to use the shape-memorable mechanism of pin array to fix multiple different shaped parts with common pin configuration. The clamping area consists of a…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
A high fidelity model is developed for an elastic string pendulum, one end of which is attached to a rigid body while the other end is attached to an inertially fixed reel mechanism which allows the unstretched length of the string to be…
This paper presents the technique of flex-and-flip manipulation. It is suitable for grasping thin, flexible linear objects lying on a flat surface. During the manipulation process, the object is first flexed by a robotic gripper whose…
The linear-frictional contact model is the most commonly used contact mechanism for discrete element (DEM) simulations of granular materials. Linear springs with a frictional slider are used for modeling interactions in directions normal…
Serpentine interconnects are highly stretchable and frequently used in flexible electronic systems. In this work, we show that the undulating geometry of the serpentine interconnects will generate phononic band gaps to manipulate elastic…
Collective cell motility is crucial to many biological processes including morphogenesis, wound healing, and cancer invasion. Recently, the biology and biophysics communities have begun to use the term cell jamming to describe the…
By means of tree-dimensional contact dynamics simulations, we analyze the vibrational dynamics of a confined granular layer in response to harmonic forcing. The sample is composed of polyedric grains with a shape derived from digitalized…
Grasping objects with diverse mechanical properties, such as heavy, slippery, or fragile items, remains a significant challenge in robotics. Conventional grippers often rely on applying high normal forces, which can cause damage to objects.…
3D-printed bellow soft pneumatic arms are widely adopted for their flexible design, ease of fabrication, and large deformation capabilities. However, their low stiffness limits their real-world applications. Although several methods exist…
We measured the magnetic resonance of rubidium atoms passing through periodic magnetic fields generated by two types of multilayered transmission magnetic grating. One of the gratings reported here was assembled by stacking four layers of…
We investigate experimentally the dynamics of an intruder dragged by a constant force in an assembly of horizontally vibrated grains close to jamming. At moderate packing fractions, the intruder moves rapidly as soon as the force is…
This paper presents a soft robot finger capable of adaptive-twist deformation to grasp objects by wrapping them. For a soft hand to grasp and pick-up one object from densely contained multiple objects, a soft finger requires the…