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Grasping a variety of objects remains a key challenge in the development of versatile robotic systems. The human hand is remarkably dexterous, capable of grasping and manipulating objects with diverse shapes, mechanical properties, and…
Soft grippers have excellent adaptability for a variety of objects and tasks. Jamming-based variable stiffness materials can further increase soft grippers' gripping force and capacity. Previous universal grippers enabled by granular…
Granular grippers can manipulate a wide variety of objects, but need to be pressed on the object to conform to it. If the object is placed on unstable ground, e.g., on sand or water, this step might cause the object to sink or move away…
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…
Grasping deformable objects with varying stiffness remains a significant challenge in robotics. Estimating the local stiffness of a target object is important for determining an optimal grasp pose that enables stable pickup without damaging…
The application of granular jamming in soft robotics is a recent and promising new technology offer exciting possibilities for creating higher performance robotic devices. Granular jamming is achieved via the application of a vacuum…
Gripping and holding of objects are key tasks for robotic manipulators. The development of universal grippers able to pick up unfamiliar objects of widely varying shape and surface properties remains, however, challenging. Most current…
Fruit harvesting remains predominantly a labor-intensive process, motivating the development of research for robotic grippers. Conventional rigid or vacuum-driven grippers require complex mechanical design or high energy consumption.…
Selective fruit harvesting is a challenging manipulation problem due to occlusions and clutter arising from plant foliage. A harvesting gripper should i) have a small cross-section, to avoid collisions while approaching the fruit; ii) have…
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,…
Granular jamming has recently become popular in soft robotics with widespread applications including industrial gripping, surgical robotics and haptics. Previous work has investigated the use of various techniques that exploit the nature of…
Soft grippers are receiving growing attention due to their compliance-based interactive safety and dexterity. Hybrid gripper (soft actuators enhanced by rigid constraints) is a new trend in soft gripper design. With right structural…
We test grip strength and shock absorption properties of various granular material in granular jamming robotic components. The granular material comprises a range of natural, manufactured, and 3D printed material encompassing a wide range…
Current agriculture and farming industries are able to reap advancements in robotics and automation technology to harvest fruits and vegetables using robots with adaptive grasping forces based on the compliance or softness of the fruit or…
Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp…
The automation of fruit harvesting has gained increasing significance in response to rising labor shortages. A sensorized gripper is a key component of this process, which must be compact enough for confined spaces, able to stably grasp…
Regrasping on fixtures is a promising approach to reduce pose uncertainty in robotic assembly, but conventional rigid fixtures lack adaptability and require dedicated designs for each part. To overcome this limitation, we propose a soft jig…
Granular jamming is a popular soft actuation mechanism that provides high stiffness variability with minimum volume variation. Jamming is particularly interesting from a design perspective, as a myriad of design parameters can potentially…
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 the influence of particle stiffness on the grasping performance of granular grippers, a class of soft robotic effectors that utilize granular jamming for object manipulation. Through experimental analyses and X-ray imaging,…