A variable stiffness gripper based on differential drive particle jamming
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Summary
A novel particle jamming mechanism based on the differential pressure drive that can achieve the independent control of the stiffness and the bending angle is proposed, which can be adopted in applications where both high stiffness and dexterity are required.
- Type
- article
- Published
- 2019-03-08
- Cited by
- 81
- References
- 31
- Access
- Open access
- OpenAlex
- https://openalex.org/W30726774
- Semantic Scholar
- https://api.semanticscholar.org/CorpusID:73432924
Keywords
Computer science
References
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- Non-Linear Elastic Deformations
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- Controllable ‘somersault’ magnetic soft robotics
- Jamming phase diagram for attractive particles
- Variable stiffness material based on rigid low-melting-point-alloy microstructures embedded in soft poly(dimethylsiloxane) (PDMS)
- Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling
- A Novel Layer Jamming Mechanism With Tunable Stiffness Capability for Minimally Invasive Surgery
- Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes
- Metamorphic robot made of low melting point alloy
- Giant voltage-induced deformation in dielectric elastomers near the verge of snap-through instability
- A new anthropomorphic robotic hand
- A soft robotic spine with tunable stiffness based on integrated ball joint and particle jamming
- Design and Locomotion Control of a Soft Robot Using Friction Manipulation and Motor–Tendon Actuation
Cited by
- A soft continuum robot, with a large variable-stiffness range, based on jamming
- Design and modeling of a high-load soft robotic gripper inspired by biological winding
- Design and testing of a monolithic compliant constant force mechanism
- Layer jamming-based soft robotic hand with variable stiffness for compliant and effective grasping
- Research on the mechanism of variable stiffness of the twisted and coiled polymer actuator during saturated contraction
- Experimental study of multi-stable morphing structures actuated by pneumatic actuation
- A Thermoplastic Elastomer Belt Based Robotic Gripper*
- A lobster-inspired articulated shaft for minimally invasive surgery
- Variable stiffness soft pneumatic grippers augmented with active vacuum adhesion
- A Review of Jamming Actuation in Soft Robotics
- Tunable acoustics with dielectric elastomer activated granular jamming exhibiting a solid–fluid transition
- Design and Testing of a Soft Robot with Variable Stiffness Based on Jamming Principles
- Untethered, High-load Soft Gripping Robots: A Review
- A paper fortune teller-inspired reconfigurable soft pneumatic gripper
- Active Bending Mechanism Employing Granular Jamming and Vacuum-Controlled Adaptable Gripper
- Soft Robotic Palm With Tunable Stiffness Using Dual-Layered Particle Jamming Mechanism
- A vacuum-driven rubber-band gripper
- Multimode Grasping Soft Gripper Achieved by Layer Jamming Structure and Tendon-Driven Mechanism
- A Positive Pressure Jamming Based Variable Stiffness Structure and its Application on Wearable Robots
- Mechanical design and analysis of a novel variable stiffness actuator with symmetrical pivot adjustment
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