Design and performance of nubbed fluidizing jamming grippers

Kapadia, Jaimeen; Yim, Mark

doi:10.1109/icra.2012.6225111

Cited by 33 publications

(28 citation statements)

References 6 publications

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“…These mechanisms were rarely exploited for specific goals. Kapadia et al [10] coated a target sphere with water; this strengthened the seal and doubled the holding force for their latex balloon membrane. Amend et al [11] chose target objects with surface textures too coarse to permit seals.…”

Section: Grasp Testingmentioning

confidence: 99%

“…Jamming pressure is the most commonly modified metric across all tests (likely due to most researchers using pneumatic actuation, which allows for simple pressure variation). Numerous studies [7,10,21,22,25,31] showed the holding force, or maximum held weight, increasing alongside actuation pressure, from 0 to 450 kPa, across diverse grain, membrane and actuation compositions. Kapadia et al [10] found that the holding force was independent of ambient pressure across two orders of magnitude, and tests at various ambient pressures showed the holding force was more sensitive to increases in actuation pressure between 30 and 85 kPa than 85 and 450 kPa.…”

Section: Grasp Testingmentioning

confidence: 99%

See 1 more Smart Citation

A Review of Jamming Actuation in Soft Robotics

2020

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Jamming is a popular and versatile soft robotic mechanism, enabling new systems to be developed that can achieve high stiffness variation with minimal volume variation. Numerous applications have been reported, including deep-sea sampling, industrial gripping, and use as paws for legged locomotion. This review explores the state-of-the-art for the three classes of jamming actuator: granular, layer and fibre jamming. We highlight the strengths and weaknesses of these soft robotic systems and propose opportunities for further development. We describe a number of trends, promising avenues for innovative research, and several technology gaps that could push the field forwards if addressed, including the lack of standardization for evaluating the performance of jamming systems. We conclude with perspectives for future studies in soft jamming robotics research, particularly elucidating how emerging technologies, including multi-material 3D printing, can enable the design and creation of increasingly diverse and high-performance soft robotic mechanisms for a myriad of new application areas.

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Section: Grasp Testingmentioning

confidence: 99%

Section: Grasp Testingmentioning

confidence: 99%

A Review of Jamming Actuation in Soft Robotics

2020

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“…Besides delicacy and accuracy, adaptability of gripper geometry to the contact surface, and its mechanical compliance are important assets that bring high flexibility and dexterity for handling objects of different shape and stiffness, respectively. Numerous gripper technologies have been developed, from the most dexterous multi-finger robotic hands [1], two-finger grippers [2], conformable soft hands [3,4], adhesion-based soft grippers [5] and universal jamming grippers [6,7] to industrial vacuum suction grippers [8]. Though employing multi-degrees-of-freedom robotic fingers requires meticulous control of configuration and contact forces [9,10], jamming grippers have limitations in handling flat or soft objects, and adhesion-based gecko grippers necessitate sophisticated cleanroom microfiber fabrication using lithography.…”

Section: Introductionmentioning

confidence: 99%

An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects With Variable Shape and Size

Zhakypov

Heremans

Billard

et al. 2018

IEEE Robot. Autom. Lett.

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Gripper adaptability to handle objects of different shape and size brings high flexibility to manipulation. Gripping flat, round, or narrow objects poses challenges to even the most sophisticated robotic grippers. Among various gripper technologies, the vacuum suction grippers provide design simplicity, yet versatility at low cost, however, their application is limited to their fixed shape and size. Here, we present an origamiinspired reconfigurable suction gripper to address adaptability with robotic suction grippers. Constructed from rigid and soft components and driven by compact shape memory alloy actuators, the gripper can effectively self-fold into three shape modes to pick large and small flat, narrow cylindrical, triangular and spherical objects. The 10-g few centimeters gripper, lifts loads up to 5 N, 50 times its weight. We also present an underactuated prototype, demonstrating the versatility of our design and actuation methods.

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“…On the other hand, the robotic hands without complicated control were reported. The universal robotic gripper based on the jamming granular material can hold a lot of object, such as bolt, glass, coil spring, and so on [1][2][3]. However, this hand is difficult to pick up a thin object such as paper.…”

Section: Introductionmentioning

confidence: 99%

Flexible vacuum gripper with autonomous switchable valves

Takahashi

Nagato

Suzuki

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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A flexible vacuum gripper having miniature arrayed valves is proposed; the valves are normally closed, and opened when contacted with object. Since the gripper is made of flexible polymer material and only the valves contacted with the object are opened to suck the surface, this gripper can hold a free-form surface such as having steps, curvatures, etc. Namely, the valve is autonomously switchable between open and close states. As the valve becomes small, the gripper can cope with higher step and higher curvature. We fabricate this gripper using Micro Electro Mechanical Systems (MEMS) technology; this technology makes it possible to fabricating many elements with micrometer order high precision by batch processing. Two types of gripper were fabricated; one is a large-scale gripper for verifying the working principle, another is a miniature gripper based on MEMS. The absorbed weights of the large-scale and miniature grippers were 19.6 N (2 kgf) and 120 mN (12 gf), respectively.

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Design and performance of nubbed fluidizing jamming grippers

Cited by 33 publications

References 6 publications

A Review of Jamming Actuation in Soft Robotics

A Review of Jamming Actuation in Soft Robotics

An Origami-Inspired Reconfigurable Suction Gripper for Picking Objects With Variable Shape and Size

Flexible vacuum gripper with autonomous switchable valves

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