We have located links that may give you full text access.
Chain-Like Granular Jamming: A Novel Stiffness-Programmable Mechanism for Soft Robotics.
Soft Robotics 2018 November 9
The ability to regulate the mechanical stiffness in a large range could be extremely important for soft robots to interact with the environment more effectively. In this article, we propose a novel chain-like granular jamming mechanism to achieve a large range of stiffness variation instantly, based on a method that is totally different from existing vacuum-based granular jamming systems. Theoretical modeling is introduced to find the best combination of granules to form the chain-like structure (CLS) and experiments are conducted to demonstrate it. The experimental results indicate that the novel jamming structure is able to achieve a stiffness variation range as large as 50.7 folds. To further validate the effectiveness of the CLS, a soft-rigid hybrid actuator based on the jamming structure is proposed and an integrated fabrication method is provided. Furthermore, an anthropomorphic hand based on the hybrid actuators is developed and the experimental results show that the hand is not only versatile enough to manipulate various objects with different weights, material properties, shapes, and surface characteristics at the soft state, like existing soft grippers, but also can lift heavy objects (1.5 kg in a cylindrical grasping gesture and 3.52 kg in a hook gesture) at the rigid state, which could be difficult for other soft grippers. Finally, the hand is integrated into our homemade service robot, significantly improving the practicability and safety of the robot when serving humans.
Full text links
Related Resources
Trending Papers
Heart failure with preserved ejection fraction: diagnosis, risk assessment, and treatment.Clinical Research in Cardiology : Official Journal of the German Cardiac Society 2024 April 12
Proximal versus distal diuretics in congestive heart failure.Nephrology, Dialysis, Transplantation 2024 Februrary 30
World Health Organization and International Consensus Classification of eosinophilic disorders: 2024 update on diagnosis, risk stratification, and management.American Journal of Hematology 2024 March 30
Efficacy and safety of pharmacotherapy in chronic insomnia: A review of clinical guidelines and case reports.Mental Health Clinician 2023 October
Get seemless 1-tap access through your institution/university
For the best experience, use the Read mobile app
All material on this website is protected by copyright, Copyright © 1994-2024 by WebMD LLC.
This website also contains material copyrighted by 3rd parties.
By using this service, you agree to our terms of use and privacy policy.
Your Privacy Choices
You can now claim free CME credits for this literature searchClaim now
Get seemless 1-tap access through your institution/university
For the best experience, use the Read mobile app