Related papers: Active Vibration Fluidization for Granular Jamming…
Soft tissue manipulation is an integral aspect of most surgical procedures; however, the vast majority of surgical graspers used today are made of hard materials, such as metals or hard plastics. Furthermore, these graspers predominately…
The dynamics of a bi-dimensional dense granular packing under cyclic shear is experimentally investigated close to the jamming transition. Measurement of multi-point correlation functions are produced. The self-intermediate scattering…
Customized grippers have broad applications in industrial assembly lines. Compared with general parallel grippers, the customized grippers have specifically designed fingers to increase the contact area with the workpieces and improve the…
We computationally study the frictional properties of sheared granular media subjected to harmonic vibration applied at the boundary. Such vibrations are thought to play an important role in weakening flows, yet the independent effects of…
Granular materials are defined as collections of macroscopic dissipative particles. Although these systems are ubiquitous in our lives, the nature and the causes of their non-trivial collective dynamics still remain elusive and have…
Inspired by widely used soft fingers on grasping, we propose a method of rigid-soft interactive learning, aiming at reducing the time of data collection. In this paper, we classify the interaction categories into Rigid-Rigid, Rigid-Soft,…
This paper presents the technique of flex-and-flip manipulation. It is suitable for grasping thin, flexible linear objects lying on a flat surface. During the manipulation process, the object is first flexed by a robotic gripper whose…
The purpose of this research is to design, fabricate and test a tendon driven a continuum soft robot with three modular segments, each of which has a tunable stiffness enabled by layer jamming technology. Compared with previous studies, the…
Grasping is a fundamental skill in robotics with diverse applications across medical, industrial, and domestic domains. However, current approaches for predicting valid grasps are often tailored to specific grippers, limiting their…
In this work we experimentally study the behavior of a freely-rotating asymmetric probe immersed in a vibrated granular medium. For a wide variety of vibration conditions the probe exhibits a steady rotation whose direction is constant with…
Realizing high-performance soft robotic grippers is challenging because of the inherent limitations of the soft actuators and artificial muscles that drive them, including low force output, small actuation range, and poor compactness.…
Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic…
Active vibration control has been introduced and used as one of the effective approaches to suppress unwanted vibrations in different systems. Effective performance of each vibration control method is contingent to accurate design and…
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…
Unlike dry granular materials, a dense granular suspension like cornstarch in water can strongly resist extensional flows. At low extension rates, such a suspension behaves like a viscous liquid, but rapid extension results in a response…
Using numerical simulations it is shown that a jammed, random pack of soft frictional grains can store an arbitrary waveform that is applied as a small time-dependent shear while the system is slowly compressed. When the system is…
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…
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…
Electrovibration technology enables tactile texture rendering on capacitive touchscreens by modulating friction between the finger and the screen through electrostatic attraction forces, generated by applying an alternating voltage signal…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…