Related papers: Shape, Size, and Fabrication Effects in 3D Printed…
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…
We investigate experimentally the mechanical response to shear of a 2D packing of grains across the jamming transition. First, we develop a dedicated experimental setup, together with tracking and photoelastic techniques in order to prepare…
We demonstrate insights into the three-dimensional structure of defects in graphene, in particular grain boundaries, obtained via a new approach from two transmission electron microscopy images recorded at different angles. The structure is…
Dry granular materials such as sand, gravel, pills, or agricultural grains, can become rigid when compressed or sheared. At low density, one can distort the shape of a container of granular material without encountering any resistance.…
Mechanical metamaterials owe their extraordinary properties and functionalities to their micro-/nanoscale design of which shape, including both geometry and topology, is perhaps the most important aspect. 4D printing enables programmed,…
We experimentally measure a three-dimensional (3D) granular system's reversibility under cyclic compression. We image the grains using a refractive-index-matched fluid, then analyze the images using the artificial intelligence of…
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…
Evaluation of grasps on deformable 3D objects is a little-studied problem, even if the applicability of rigid object grasp quality measures for deformable ones is an open question. A central issue with most quality measures is their…
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…
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…
Computational design can excite the full potential of soft robotics that has the drawbacks of being highly nonlinear from material, structure, and contact. Up to date, enthusiastic research interests have been demonstrated for individual…
Able to grasp objects of any shape and size, universal grippers using variable stiffness phenomenon such as granular jamming have been developed for disaster robotics application. However, as their contact interface is mainly composed of…
Granular heaps are critical in both industrial applications and natural processes, exhibiting complex behaviors that have sparked significant research interest. The stress dip phenomenon observed beneath granular heaps continues to be a…
Fibre jamming is a relatively new and understudied soft robotic mechanism that has previously found success when used in stiffness-tuneable arms and fingers. However, to date researchers have not fully taken advantage of the freedom offered…
High-aspect-ratio polymer materials are widely utilized in applications ranging from everyday materials such as clothing to specialized equipment in industrial and medical fields. Traditional fabrication methods, such as extrusion and…
We investigate a stochastic model describing a column of grains in the jamming limit, in the presence of a low vibrational intensity. The key control parameter of the model, $\epsilon$, is a representation of granular shape, related to the…
This work proposes a novel generative design tool for passive grippers -- robot end effectors that have no additional actuation and instead leverage the existing degrees of freedom in a robotic arm to perform grasping tasks. Passive…
In two-dimensional rotating drum experiments, we find two separate influences of the packing fraction of a granular heap on its stability. For a fixed grain shape, the stability increases with packing fraction. However, in determining the…
Nanocrystalline metals, i.e. metals with grain sizes from 5 to 50 nm, display technologically interesting properties, such as dramatically increased hardness, increasing with decreasing grain size. Due to the small grain size, direct…
Micro end-milling method is a universal micro manufacturing method, which can be used to fabricating complex 3D structures and parts with many materials. But compared with their micrometer order size, their surface roughness quality is not…