Related papers: An Experimental Characterization of Mechanical Lay…
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…
Grippers can be attached to objects in a rigid mode, and they are therefore used in various applications, for example granular jamming gripper. This paper introduces a cutting-edge radial layer jamming mechanism with is tunable stiffness,…
Jamming is a fundamental transition that governs the mechanical behavior of particulate media, including sand, foam and dense suspensions but also biological tissues: Upon compression, particulate media can change from freely flowing to a…
Humans possess a remarkable ability to react to unpredictable perturbations through immediate mechanical responses, which harness the visco-elastic properties of muscles to maintain balance. Inspired by this behaviour, we propose a novel…
Jamming is a ubiquitous phenomenon that appears in many soft matter systems, including granular materials, foams, colloidal suspensions, emulsions, polymers, and cells -- when jamming occurs, the system undergoes a transition from flow-like…
Robotic arms built from stiffness-adjustable, continuously bending segments serially connected with revolute joints have the ability to change their mechanical architecture and workspace, thus allowing high flexibility and adaptation to…
Colloidal and other granular media experience a transition to rigidity known as jamming if the fill fraction is increased beyond a critical value. The resulting jammed structures are locally disordered, bear applied loads inhomogenously,…
Fiber jamming modules (FJMs) offer flexibility and quick stiffness variation, making them suitable for follow-the-leader (FTL) motions in continuum robots, which is ideal for minimally invasive surgery (MIS). However, their potential has…
Soft composite solids are made of inclusions dispersed within soft matrices. They are ubiquitous in nature and form the basis of many biological tissues. In the field of materials science, synthetic soft composites are promising candidates…
Achieving human-like dexterity in robotic grippers remains an open challenge, particularly in ensuring robust manipulation in uncertain environments. Soft robotic hands try to address this by leveraging passive compliance, a characteristic…
Numerous soft materials jam into an amorphous solid at high packing fraction. This non-equilibrium phase transition is best understood in the context of a model system in which particles repel elastically when they overlap. Recently,…
Amorphous materials as diverse as foams, emulsions, colloidal suspensions and granular media can {\em jam} into a rigid, disordered state where they withstand finite shear stresses before yielding. The jamming transition has been studied…
We investigate criticality near the jamming transition in both quiescent systems and those under shear by considering the effect of mechanical training on the jamming transition and nonlinear rheology. We simulate frictionless soft…
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…
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…
Continuum robots with variable compliance have gained significant attention due to their adaptability in unstructured environments. Among various stiffness modulation techniques, layer jamming (LJ) provides a simple yet effective approach…
Soft composite solids, comprising discrete inclusions embedded within a compliant matrix, are emerging candidates for engineering synthetic tissues and soft robotic materials. Current strategies for controlling their nonlinear mechanics,…
Solids are distinguished from fluids by their ability to resist shear. In traditional solids, the resistance to shear is associated with the emergence of broken translational symmetry as exhibited by a non-uniform density pattern, which…
The formation of self-organised structures that resist shear deformation have been discussed in the context of shear jamming and thickening[1-3], with frictional forces playing a key role. However, shear induces geometric features necessary…
Soft, disordered, micro-structured materials are ubiquitous in nature and industry, and are different from ordinary fluids or solids, with unusual, interesting static and flow properties. The transition from fluid to solid -at the so-called…