A novel approach to enhancing smart stiffness of soft robotic gripper fingers for wider grasping capability
Sign Up to like & getrecommendations! Published in 2024 at "International Journal of Intelligent Robotics and Applications"
DOI: 10.1007/s41315-024-00398-z
Abstract: This paper presents a proposed design of soft gripper fingers with adjustable stiffness that could be employed in the applications requiring adaptable and stable grasping. The main idea is to combine the under-actuated cable driven… read more here.
Keywords: gripper finger; soft gripper; layer jamming; gripper ... See more keywords
A parallel-guided compliant mechanism with variable stiffness based on layer jamming
Sign Up to like & getrecommendations! Published in 2020 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2020.103791
Abstract: Abstract This article introduces a parallel-guided compliant mechanism, which can achieve a high stiffness ratio (maximum over minimum) of 75 times through pneumatic actuated layer jamming. The compliant mechanism is composed of two flexible beams… read more here.
Keywords: stiffness; layer jamming; mechanism; parallel guided ... See more keywords
Analysis and modeling of nonlinear saturated behavior of layer jamming soft pneumatic bending actuator
Sign Up to like & getrecommendations! Published in 2025 at "Smart Materials and Structures"
DOI: 10.1088/1361-665x/adbf56
Abstract: Soft actuators have become remarkably popular among numerous applications in rehabilitation and manipulation. Despite their numerous advantages, these actuators exhibit a significant limitation in grasping applications. Their inherently low stiffness, a characteristic of soft actuators,… read more here.
Keywords: bending actuator; soft actuator; layer jamming; actuator ... See more keywords
Enhanced Deformation Resistance and Load-Bearing Capacity in Tip-Growing Robots Through Scale-Inspired Layer Jamming Mechanism.
Sign Up to like & getrecommendations! Published in 2025 at "Soft robotics"
DOI: 10.1089/soro.2024.0147
Abstract: The tip-growing robot, constructed from flexible film or nylon and powered by fluid pressure, has exhibited superior motion performance and high adaptability in complex and restricted environments for detection and manipulation. However, the insufficient stiffness… read more here.
Keywords: jamming mechanism; layer jamming; mechanism; tip growing ... See more keywords
Electrostatic Layer Jamming Variable Stiffness for Soft Robotics
Sign Up to like & getrecommendations! Published in 2019 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2019.2893480
Abstract: A novel layer jamming variable stiffness technique for soft robotics is proposed in this paper, which we call electrostatic layer jamming (ELJ). The basic principle of the ELJ is using electrostatic attraction to squeeze material… read more here.
Keywords: robotics; layer jamming; jamming variable; stiffness ... See more keywords
Electrostatic Layer Jamming Variable Stiffness Enhanced by Giant Electrorheological Fluid
Sign Up to like & getrecommendations! Published in 2024 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2023.3275961
Abstract: The traditional electrostatic layer jamming (ELJ) utilizes air as the dielectric, which leads to the ELJ system that can withstand less voltage. A novel electrostatic layer jamming based on giant electrorheological fluid (ELJ-GERF) for soft… read more here.
Keywords: layer jamming; giant electrorheological; electrostatic layer; elj gerf ... See more keywords
Passive Force-Feedback Gloves With Joint-Based Variable Impedance Using Layer Jamming
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Haptics"
DOI: 10.1109/toh.2019.2908636
Abstract: Force feedback gloves have a great potential in enhancing the fidelity of virtual reality and teleoperation systems. It is a challenge to develop multifinger and lightweight force feedback gloves. In this paper, we propose a… read more here.
Keywords: layer jamming; feedback gloves; force; using layer ... See more keywords
Discrete Layer Jamming for Variable Stiffness Co-Robot Arms
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4044537
Abstract: Continuous layer jamming is an effective tunable stiffness mechanism that utilizes vacuum to vary friction between laminates enclosed in a membrane. In this paper, we present a discrete layer jamming mechanism that is composed of… read more here.
Keywords: layer jamming; layer; discrete layer; variable stiffness ... See more keywords
Origami-Layer-Jamming Deployable Surgical Retractor With Variable Stiffness and Tactile Sensing
Sign Up to like & getrecommendations! Published in 2020 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4045424
Abstract: Origami-based flexible, compliant, and bio-inspired robots are believed to permit a range of medical applications within confined environments. In this article, we experimentally demonstrated an origami-inspired deployable surgical retractor with the controllable stiffness mechanism that… read more here.
Keywords: retractor; surgical retractor; stiffness; layer jamming ... See more keywords
A continuum-based model for a layer jamming beam
Sign Up to like & getrecommendations! Published in 2025 at "Mechanical Sciences"
DOI: 10.5194/ms-16-821-2025
Abstract: Abstract. Layer jamming structures (LJSs) are widely used as variable-stiffness components in collaborative robots to ensure safe human–robot interaction. However, existing analytical models often fail to adequately describe the mechanical behavior of LJSs with a… read more here.
Keywords: layer; continuum based; based model; layer jamming ... See more keywords