Jamming layered membrane gripper mechanism for grasping differently shaped-objects without excessive pushing force for search and rescue missions

Fujita, Masahiro; Tadakuma, Kenjiro; Komatsu, Hirotake; Takane, Eri; Nomura, Akito; Ichimura, Tomoya; Konyo, Masashi; Tadokoro, Satoshı

doi:10.1080/01691864.2018.1451368

Cited by 38 publications

(7 citation statements)

References 18 publications

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“…Fujita et al [27] demonstrated that their Silicone rubber multi-chambered cylinder and coffee powder gripper was not only capable of grasping objects, but also complex manipulation of a switch door via pressing its button to unlock it, then grasping and pulling the handle to open the door. The gripper was capable of generating enough force to activate the button when oriented upwards, downwards and sideways.…”

Section: Grippersmentioning

confidence: 99%

“…Li et al 2019 [30] showed that the activation force consistently increased alongside total injected grain volume. Fujita et al 2018A [27] increased coffee fill level four times and each increase resulted in an increase in activation and holding forces on a vertical standing cylinder, as well as reducing variability in grip strength. Licht et al 2018 [28] used three fill levels of glass beads.…”

Section: Grasp Testingmentioning

confidence: 99%

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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: Grippersmentioning

confidence: 99%

Section: Grasp Testingmentioning

confidence: 99%

A Review of Jamming Actuation in Soft Robotics

2020

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“…The bulk and longitudinal locking method, which switches the stiffness using friction, applies a negative pressure to the particles [3]- [5] or layers [6]- [8] inside the bag such that they come in contact with each other and increase the stiffness. This method can arbitrarily determine the shape of the bag for covering the filling.…”

Section: Introductionmentioning

confidence: 99%

Tube Mechanism With 3-Axis Rotary Joints Structure to Achieve Variable Stiffness Using Positive Pressure

Onda

Watanabe

Tadakuma

et al. 2024

IEEE Robot. Autom. Lett.

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Studies on soft robotics have explored mechanisms of switching the stiffness of a robot structure. The hybrid soft-rigid approach, which combines soft materials and high-rigidity structures, is the most commonly-used method for the variable stiffness mechanism. The positive-pressurization method, in particular, has attracted significant attention in recent years as it can remove the limit on the driving pressure. Moreover, it can change the shape holding force according to the value of internal pressure. In this study, a variable stiffness mechanism, consisting of 3-axis rotary ball joints and a single chamber, is devised via frictional force using positive pressure. The prototype can change joint angles arbitrarily when not pressurized and can hold joint angles when a positive pressure is applied. By using a theoretical model of the torque required to hold the joint angle, we simulated the holding torque using finite element modeling analysis and measured the holding torque in the pitch and roll directions when internal pressure was applied. Based on the interaction of the theoretical model, measurement, and FEM analysis, it was confirmed that the value of the holding torque in the roll direction was approximately π/2 times larger than that in the pitch direction for each value of the internal pressure. Further, we evaluated the FEM value, theoretical value, and measured value of holding torque by numerical comparison with each other. We believe that our approach will aid the design of effective stiffening mechanisms for soft robotics applications.

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“…Compared with traditional rigid robots, soft robots constructed from soft materials with low costs, high compliance, and high human-machine interaction security have been used in many fields, such as in rehabilitation [9], space exploration [10][11][12], drug delivery [13,14], and underwater detection [15]. As the most extensively investigated research area in the field of soft robotics, dexterous soft grippers inspired by human hands have been applied in various scenarios, such as in search and rescue missions [16], surgical operations [17,18], and kitchen utensil cleaning [19]. The actuation methods of soft grippers can be classified into three major categories: pneumatic-driven [20,21], tendon-or cable-driven [22,23], and soft active material-driven [24][25][26][27] (e.g.…”

Section: Introductionmentioning

confidence: 99%

Reconfigurable bionic soft pneumatic gripper for fruit handling based on shape and size adaptation

Cheng¹,

Lu²,

Chen³

et al. 2022

J. Phys. D: Appl. Phys.

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A universal soft gripper for fruit grasping is challenging to develop. In this study, a modular and reconfigurable soft pneumatic gripper was designed. The designed gripper was inspired by the dexterous grasping of the human hand for fruits of different shapes and sizes. It comprised three soft extension actuators (SEAs), two soft rotation actuators (SRAs), and three soft bending actuators (SBAs). By adjusting SRAs, two grasping poses (claw and clenching pose) could be made to hold fruits of different shapes. The grasping size under each pose could be continuously adjusted by SEAs to grasp fruits of different sizes. SBAs were used to mimic soft fingers for grasping. Theoretical and simulation models were established to predict the relationships between deformations and pressures of SEAs, SRAs, and SBAs. The deformation characteristics of these actuators were experimentally investigated. It was shown that, by inflating SEAs, the grasping sizes under the claw and clenching poses could be increased by 87.5% and 94.5%, respectively. Furthermore, a visual recognition system was designed for automatically controlling the grasping pose and size. Grasping tests showed that, by reconfiguring the grasping pose and size, various fruits, vegetables, and foods with weights from 32 to 786 g (24.6 folds) and diameters from 30 to 141 mm (4.7 folds) could be successfully grasped, indicating the broad applicability of our all-pneumatic soft gripper.

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Jamming layered membrane gripper mechanism for grasping differently shaped-objects without excessive pushing force for search and rescue missions

Cited by 38 publications

References 18 publications

A Review of Jamming Actuation in Soft Robotics

A Review of Jamming Actuation in Soft Robotics

Tube Mechanism With 3-Axis Rotary Joints Structure to Achieve Variable Stiffness Using Positive Pressure

Reconfigurable bionic soft pneumatic gripper for fruit handling based on shape and size adaptation

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