Related papers: A Comprehensive Dataset of Grains for Granular Jam…
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…
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…
Granular systems are not always homogeneous and can be composed of grains with very different mechanical properties. To improve our understanding of the behavior of real granular systems, in this experimental study, we compress 2D…
Granular jamming is a popular soft robotics technology that has seen recent widespread applications including industrial gripping, surgical robotics and haptics. However, to date the field has not fully exploited the fundamental science of…
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…
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,…
Granular jamming has been identified as a fundamental mechanism for the operation of robotic grippers. In this work, we show, that soft particles like expanded polystyrene beads lead to significantly larger gripping forces in comparison to…
We performed a series of numerical vertical compression tests on assemblies of 2D granular material using a Discrete Element code and studied the results with regard to the grain shape. The samples consist of 5,000 grains made from either 3…
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…
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…
Very soft grain assemblies have unique shape-changing capabilities that allow them to be compressed far beyond the rigid jammed state by filling void spaces more effectively. However, accurately following the formation of these systems by…
We present the experimental studies of highly strained soft bidisperse granular systems made of hyperelastic and plastic particles. We explore the behavior of granular matter deep in the jammed state from local field measurement from the…
Both the shape of individual particles and their surface properties contribute to the strength of a granular material under shear. Here we show the degree to which these two aspects can be intertwined. In experiments on assemblies of 3D…
Fruit harvesting has recently experienced a shift towards soft grippers that possess compliance, adaptability, and delicacy. In this context, pneumatic grippers are popular, due to provision of high deformability and compliance, however…
Jamming is a common feature of out of equilibrium systems showing slow relaxation dynamics. Here we review our efforts in understanding jamming in granular materials using experiments and computer simulations. We first obtain an estimation…
Our understanding of the elasticity and rheology of disordered materials, such as granular piles, foams, emulsions or dense suspensions relies on improving experimental tools to characterize their behaviour at the particle scale. While 2D…
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…
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…
The jamming transition is an important feature of granular materials, with prior work showing an excess of low frequency modes in the granular analog to the density of states, the granular density of modes. In this work, we present an…
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…