Related papers: Vibration Improves Performance in Granular Jamming…
Mechanical resonances are used in a wide variety of devices; from smart phone accelerometers to computer clocks and from wireless communication filters to atomic force microscope sensors. Frequency stability, a critical performance metric,…
In our daily life, we often encounter objects that are fragile and can be damaged by excessive grasping force, such as fruits. For these objects, it is paramount to grasp gently -- not using the maximum amount of force possible, but rather…
Granulation is a process whereby a dense colloidal suspension is converted into pasty granules (surrounded by air) by application of shear. Central to the stability of the granules is the capillary force arising from the interfacial tension…
The performance of a wide variety of ultra-sensitive devices employing nanoelectromechanical resonators is determined by their mechanical quality factor, yet energy dissipation in these systems remains poorly understood. Here we develop a…
In contrast with the diversity of materials found in nature, most robots are designed with some combination of aluminum, stainless steel, and 3D-printed filament. Additionally, robotic systems are typically assumed to follow basic…
The jamming transition of soft particles characterized by narrow size distributions has been well studied by physicists. However, polydispersed systems are more relevant to engineering, and the influence of polydispersity on jamming…
In robotic manipulation, preventing objects from slipping and establishing a secure grip on them is critical. Successful manipulation requires tactile sensors that detect the microscopic incipient slip phenomenon at the contact surface.…
Stiffness estimation is crucial for delicate object manipulation in robotic and prosthetic hands but remains challenging due to dependence on force and displacement measurement and real-time sensory integration. This study presents a…
We briefly review the basics ideas and results of a recently proposed statistical mechanical approach to granular materials. Using lattice models from standard Statistical Mechanics and results from a mean field replica approach and Monte…
The integration of extra-robotic limbs/fingers to enhance and expand motor skills, particularly for grasping and manipulation, possesses significant challenges. The grasping performance of existing limbs/fingers is far inferior to that of…
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…
We review recent developments in size separation in vibrated granular materials. Motivated by a need in industry to efficiently handle granular materials and a desire to make fundamental advances in non-equilibrium physics, experimental and…
In this paper the implementation of piezoelectrics to a state-of-the-art wafer gripper is investigated. The objective is to propose and validate a solution method, which includes a mechanical design and control system, to achieve at least…
Grip surfaces with tunable friction can actively modify contact conditions, enabling transitions between higher- and lower-friction states for grasp adjustment. Friction can be increased to grip securely and then decreased to gently release…
Particles suspended in a Newtonian fluid raise the viscosity and also generally give rise to a shear-rate dependent rheology. In particular, pronounced shear thickening may be observed at large solid volume fractions. In a recent article…
Understanding intermittency, an ubiquitous behavior in flows of packed grains, is pivotal for establishing the rheology of granular matter. A straightforward explanation has been missing despite the long development of theories at various…
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…
One of the major limitations of atomic gravimeters is represented by the vibration noise of the measurement platform, which cannot be distinguished from the relevant acceleration signal. We demonstrate a new method to perform an atom…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
Levitated mechanical systems are promising candidates for quantum gravimetry, as gravity couples directly to their center-of-mass motion, enabling the large mass of a mesoscopic particle to serve as a sensing resource. In this paper, we…