Stiffness variations in granular jamming robots; an experimental method

Sayyadan, S. Mohammad Z.; Moniri, Mohammad Mehdi; Gharib, Faezeh

doi:10.1109/mmar.2017.8046907

Cited by 3 publications

(2 citation statements)

References 21 publications

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“…In pursuit of the latter, roboticists recently emphasized the use of granular media in robotic grasping, in which the finger stiffness can be controlled and varied on demand during the grasping process. A novel, yet simple, way to achieve variable stiffness is the jamming of granular media in a highly elastic sheath or a rubbery membrane, which was found to provide effectiveness in actuation [19] and stiffness tuning [20]. Robotic grippers [21,22], passive variable stiffness soft robotic grippers [23], articulated manipulators [24,25], the palm of a robotic hand [26], and the feet of mobile robots [27,28] are just a few prominent examples of integrating the jamming mechanism in practical applications.…”

Section: Introductionmentioning

confidence: 99%

A Systematic Approach to Stable Grasping of a Two-Finger Robotic Hand Activated by Jamming of Granular Media

et al. 2023

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A systematic approach is presented to achieve the stable grasping of objects through a two-finger robotic hand, in which each finger cavity was filled with granular media. The compaction of the latter, controlled by vacuum pressure, was used to adjust the structural and contact stiffness of the finger. The grasping stability was studied under the concurrent effect of an external torque and applied vacuum pressure. Stable grasping was defined as the no slippage condition between the grasped object and the two fingers. Three control schemes were adopted and applied experimentally to ensure the effectiveness of the grasping process. The results showed that stable and unstable grasping regions exist for each combination of applied torque and vacuum pressure. The two-finger robotic hands can be further improved for applications that require high load-carrying capabilities.

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Section: Introductionmentioning

confidence: 99%

A Systematic Approach to Stable Grasping of a Two-Finger Robotic Hand Activated by Jamming of Granular Media

et al. 2023

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“…Here, we focus on the modulation of damping with the particle jamming. Various types of particles have been used for the jamming system, such as glass spheres [33,40], ground coffee [43,44], plant grains [45,46], and sands [47]. The use of lightweight and reliable particles is important for the soft actuators because of their intrinsic light weight and low stiffness.…”

Section: Introductionmentioning

confidence: 99%

Damping effect of particle-jamming structure for soft actuators with 3D-printed particles

Zou

Deng

et al. 2020

Smart Mater. Struct.

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Soft actuators made of soft materials can exhibit compliant behavior but tend to generate large vibrations in dynamic environments because of poor damping performance. Here, we integrate the particle-jamming technology with three-dimensional (3D)-printing technology to enhance the damping performance, with a goal of establishing a lightweight and reliable approach of damping for the soft actuators. An analytical model for energy dissipation is presented, which can reveal the dependence of the damping performance on various parameters including vacuum pressure, particle chamber dimensions, and particle properties. Then, 3D-printed particles with different sizes and different surface topographies are fabricated. The theoretical analysis and experimental results are combined to investigate the dependence of the particle chamber's damping effect on specific parameters such as vacuum pressure, the dimensions of the particle chamber, and the diameter and surface topography of the particle. Accordingly, the damping for the soft chamber with particles can be tuned well. The experimental results show that up to a six-fold increase in damping ratio is achieved. Thus, this research can provide insights for designing soft actuators where vibration suppression is important, particularly in some dynamic environments.

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