JSEL: Jamming Skin Enabled Locomotion

Steltz, E.; Mozeika, Annan; Rodenberg, Nicholas; Brown, Eric; Jaeger, Heinrich M.

doi:10.1109/iros.2009.5354790

Cited by 169 publications

(102 citation statements)

References 10 publications

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“…To explore the interaction between tensegrity robots and the environment, software design platforms were presented in [134] with the aim of exploiting these robots' abilities. Similarly, the jamming behaviour of a skin stuffed with granular material has been exploited to deform a soft ball-like robot and achieve omnidirectional locomotion [135].…”

Section: Alternative Modes Of Locomotionmentioning

confidence: 99%

Fundamentals of soft robot locomotion

Calisti

Picardi

Laschi

2017

J. R. Soc. Interface.

234

147

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Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human -robot interaction and locomotion. Although field applications have emerged for soft manipulation and human-robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics.

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Section: Alternative Modes Of Locomotionmentioning

confidence: 99%

Fundamentals of soft robot locomotion

Calisti

Picardi

Laschi

2017

J. R. Soc. Interface.

234

147

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“…The jammable gripper is actuated by a single vacuum pump, while most traditional grippers require one actuator (such as a motor) per joint, or degree of freedom. Jamming has also been explored in soft robotics, where robots transition between compliant and rigid, loadbearing states [35,36,6]; for medical devices that need to Figure 2: Jamming techniques enables new possibilities for shape state transitions. In this example, an object's shape is informed from structure (a), deformed by a user (b), and jammed to maintain the deformation (c).…”

Section: Related Work Jamming In Mechanical Engineeringmentioning

confidence: 99%

“…We have implemented a closed-loop control system to achieve desired vacuum pressures as a test platform. While pressure relates to the magnitude of jamming, there is not necessarily a linear relationship between pressure and system stiffness [36].…”

Section: Pneumatic Jammingmentioning

confidence: 99%

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Jamming user interfaces

Follmer

Leithinger

Olwal

et al. 2012

Proceedings of the 25th Annual ACM Symposium on User Interface Software and Technology

207

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Malleable and organic user interfaces have the potential to enable radically new forms of interactions and expressiveness through flexible, free-form and computationally controlled shapes and displays. This work, specifically focuses on particle jamming as a simple, effective method for flexible, shape-changing user interfaces where programmatic control of material stiffness enables haptic feedback, deformation, tunable affordances and control gain. We introduce a compact, low-power pneumatic jamming system suitable for mobile devices, and a new hydraulic-based technique with fast, silent actuation and optical shape sensing. We enable jamming structures to sense input and function as interaction devices through two contributed methods for high-resolution shape sensing using: 1) index-matched particles and fluids, and 2) capacitive and electric field sensing. We explore the design space of malleable and organic user interfaces enabled by jamming through four motivational prototypes that highlight jamming's potential in HCI, including applications for tabletops, tablets and for portable shape-changing mobile devices.

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“…[12,14] In macroscale machines/robots, shape-change actuation is demonstrated by the McKibben "air muscle," [15] which is driven pneumatically, and iRobot's "blob-bot," which operates by stiffening portions of an inflatable soft skin using jamming. [16] The reversible jamming of granular media was also utilized in robotics by universal grippers [17] -the locomotion of blob-bot takes advantage of the technology developed for these devices.…”

Section: Introductionmentioning

confidence: 99%

Elastomeric Tiles for the Fabrication of Inflatable Structures

Morin

Kwok

Lessing

et al. 2014

Adv Funct Materials

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This paper describes the fabrication of three-dimensional (3D) soft, inflatable structures from thin, two-dimensional (2D) tiles fabricated from elastomeric polymers. The tiles were connected using soft joints that increased the surface area available for gluing them together, and mechanically reinforced the structures to withstand the tensile forces associated with pneumatic actuation. The ability of the elastomeric polymer to withstand large deformations without failure made it possible to explore and implement new joint designs, for example "double-taper dovetail joints," that cannot be used with hard materials. This approach simplifies the fabrication of soft structures comprised of materials with different physical properties (e.g., stiffness, electrical conductivity, optical transparency), and provides the methods required to "program" the response of these structures to mechanical (e.g., pneumatic pressurization) and other physical (e.g., electrical) stimuli. The flexibility and modularity of this approach was demonstrated in a set of soft structures that expanded or buckled into distinct, predictable shapes when inflated or deflated. These structures combined easily to form extended systems with motions dependent on the configurations of the selected components, and, when fabricated with electrically conductive tiles, electronic circuits with pneumatically-active elements. This approach to the fabrication of hollow, 3D structures provides routes to new soft actuators.

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JSEL: Jamming Skin Enabled Locomotion

Cited by 169 publications

References 10 publications

Fundamentals of soft robot locomotion

Fundamentals of soft robot locomotion

Jamming user interfaces

Elastomeric Tiles for the Fabrication of Inflatable Structures

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