Related papers: Vibration Improves Performance in Granular Jamming…
We comprehensively study mechanical and vibrational properties of dimer packings in three-dimensional space with particular attention on critical scaling behaviors near the jamming transition. First, we confirm the dependence of the packing…
Inertia amplification is a mechanism coupling degrees of freedom within a vibrating structure. Its goal is to achieve an apparent high dynamic mass and, accordingly, a low resonance frequency. Such structures have been described for use in…
Robot grasping is subject to an inherent tradeoff: Grippers with a large span typically take a longer time to close, and fast grippers usually cover a small span. However, many practical applications of soft grippers require the ability to…
Organisms in nature, such as Cephalopods and Pachyderms, exploit stiffness modulation to achieve amazing dexterity in the control of their appendages. In this paper, we explore the phenomenon of layer jamming, which is a popular stiffness…
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…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
We report numerical simulations of strongly vibrated granular materials designed to mimic recent experiments performed both in presence [1] or absence [2] of gravity. We show that a model with impact velocity dependent restitution…
We describe a dynamic light scattering setup that uses diffusing wave spectroscopy (DWS) to investigate the dynamics in sand grains subjected to periodic vertical shaking by a loudspeaker. Along with the setup that is used in the…
We perform numerical simulations of a two-dimensional bidisperse granular packing subjected to both a static confining pressure and a sinusoidal dynamic forcing applied by a wall on one edge of the packing. We measure the response…
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…
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…
We study the rheology of dense granular materials subjected to vertical vibration {by} using numerical simulations of a stress-imposed vane rheometer. The effective viscosity increases with confining pressure, decreases with vibration…
The effect of damping in the wave turbulence regime for thin vibrating plates is studied. An experimental method, allowing measurements of dissipation in the system at all scales, is first introduced. Practical experimental devices for…
Vibrational resonance focuses on the resonance behavior of a nonlinear system when it is subjected to both a weak low-frequency characteristic signal and a high-frequency auxiliary signal. A traditional Duffing system has a fixed natural…
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their…
Studying the jamming transition of granular and colloidal systems, has lead to a proliferation of theoretical and numerical results formulated in the language of the eigenspectrum of the dynamical matrix for these disordered system. Only…
While vibration is a well-used output signal in HCI as part of haptic interaction, vibration outside HCI is used in many other modes to support human performance, from rehabilitation to cognition. In this late breaking work, we present…
Soft robots are powerful tools for manipulating delicate objects, yet their adoption is hindered by two gaps: the lack of integrated tactile sensing and sensor signal distortion caused by actuator deformations. This paper addresses these…
We study the possibility of occurrence of vibrational resonance in a softening Duffing oscillator in the underdamped and overdamped cases both theoretically as well as numerically. The oscillator is driven by two periodic forces.…
Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…