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Granular Jamming Transitions for a Robotic Mechanism

Research output: Chapter in Book/Report/Conference proceedingConference paper

Original languageEnglish
Title of host publicationPOWDERS AND GRAINS 2013
Subtitle of host publicationProceedings of the 7th International Conference on Micromechanics of Granular Media
EditorsA Yu, K Dong, R Yang, S Luding
Place of PublicationMELVILLE
PublisherAmer Inst Physics
Number of pages4
ISBN (Print)978-0-7354-1166-1
Publication statusPublished - 2013
Event7th International Conference on Micromechanics of Granular Media (Powders and Grains) - Sydney, Australia
Duration: 8 Jul 201312 Jul 2013

Publication series

NameAIP Conference Proceedings
ISSN (Print)0094-243X


Conference7th International Conference on Micromechanics of Granular Media (Powders and Grains)

King's Authors


The jamming transitions for granules growing field of interest in robotics for use in variable stiffness mechanisms. However, the traditional use of air pressure to control the jamming transition requires heavy vacuums, reducing the mobility of the robot. Thus, we propose the use of water as a hydraulic fluid to control the transition between free and clustered granules. This paper presents comparative studies that show that a hydraulic granular jammed finger joint can both achieve the same stiffness level and maintain the same hysteresis level of a pneumatic system, with only a small volume of fluid.

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