Related papers: Radial-Layer Jamming Mechanism for String Configur…

Mechanical cantilevers are central to nanotechnology, with ultimate sensitivity achieved at the atomic limit, where low bending rigidity makes stability the fundamental challenge. Here, we introduce a wrinkle-induced stiffening approach…

We revisit the concept of minimal rigidity as applied to soft repulsive, frictionless sphere packings in two-dimensions with the introduction of the jamming graph. Minimal rigidity is a purely combinatorial property encoded via Laman's…

We present a novel mechanism for resolving the mechanical rigidity of nanoscopic circular polymers that flow in a complex environment. The emergence of a regime of negative differential mobility induced by topological interactions between…

We investigate in-hand regrasping by pushing an object against an external constraint and allowing sliding at the fingertips. Each fingertip is modeled as attached to a multidimensional spring mounted to a position-controlled anchor. Spring…

Adhesive attachment systems consisting of multiple tapes or strands are commonly found in nature, for example in spider web anchorages or in mussel byssal threads, and their structure has been found to be ingeniously architected in order to…

Grasping is an essential capability for most robots in practical applications. Soft robotic grippers are considered as a critical part of robotic grasping and have attracted considerable attention in terms of the advantages of the high…

We investigate the mechanical behavior of jammed knitted fabrics, where geometric confinement leads to an initially stiff mechanical response that softens into low stiffness behavior with additional applied stress. We show that the jammed…

This paper discusses transport barrier formation and layering as consequences of jam formation. Extensive use is made of analogies with the theory of traffic flow in one dimension. The relation of flux jamming to motility induced phase…

In this paper, a 1-DoF gripper mechanism has been synthesized for the type of mechanism, number of links and joints, and the dimensions of length, width and thickness of links. The type synthesis is done by selecting the proper class of…

Jamming is a ubiquitous phenomenon that appears in many soft matter systems, including granular materials, foams, colloidal suspensions, emulsions, polymers, and cells -- when jamming occurs, the system undergoes a transition from flow-like…

Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry…

Under-actuated robot grippers as a pervasive tool of robots have become a considerable research focus. Despite their simplicity of mechanical design and control strategy, they suffer from poor versatility and weak adaptability, making…

Solids are distinguished from fluids by their ability to resist shear. In traditional solids, the resistance to shear is associated with the emergence of broken translational symmetry as exhibited by a non-uniform density pattern, which…

Robots' behavior and performance are determined both by hardware and software. The design process of robotic systems is a complex journey that involves multiple phases. Throughout this process, the aim is to tackle various criteria…

Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception, and motion planning. Here we circumvent the need for feedback or precise planning by using an array…

Fixtures for constraining the movement of parts have been extensively investigated in robotics, since they are essential for using robots in automated manufacturing. This paper deals with the design and optimized synthesis of a special type…

Wireless jamming identification, which detects and classifies electromagnetic jamming from non-cooperative devices, is crucial for emerging low-altitude wireless networks consisting of many drone terminals that are highly susceptible to…

A robust grip is key to successful manipulation and joining of work pieces involved in any industrial assembly process. Stability of a grip depends on geometric and physical properties of the object as well as the gripper itself. Current…

Conventional anti-jamming method mostly rely on frequency hopping to hide or escape from jammer. These approaches are not efficient in terms of bandwidth usage and can also result in a high probability of jamming. Different from existing…

By minimizing the enthalpy of packings of frictionless particles, we obtain jammed solids at desired pressures and hence investigate the jamming transition with and without shear. Typical scaling relations of the jamming transition are…