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Granular Jamming Transitions for a Robotic Mechanism

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

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Granular Jamming Transitions for a Robotic Mechanism. / Jiang, Allen; Aste, Tomaso; Dasgupta, Prokar; Althoefer, Kaspar; Nanayakkara, Thrishantha.

POWDERS AND GRAINS 2013: Proceedings of the 7th International Conference on Micromechanics of Granular Media. ed. / A Yu; K Dong; R Yang; S Luding. MELVILLE : Amer Inst Physics, 2013. p. 385-388 (AIP Conference Proceedings; Vol. 1542).

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

Harvard

Jiang, A, Aste, T, Dasgupta, P, Althoefer, K & Nanayakkara, T 2013, Granular Jamming Transitions for a Robotic Mechanism. in A Yu, K Dong, R Yang & S Luding (eds), POWDERS AND GRAINS 2013: Proceedings of the 7th International Conference on Micromechanics of Granular Media. AIP Conference Proceedings, vol. 1542, Amer Inst Physics, MELVILLE, pp. 385-388, 7th International Conference on Micromechanics of Granular Media (Powders and Grains), Sydney, Australia, 8/07/2013. https://doi.org/10.1063/1.4811948

APA

Jiang, A., Aste, T., Dasgupta, P., Althoefer, K., & Nanayakkara, T. (2013). Granular Jamming Transitions for a Robotic Mechanism. In A. Yu, K. Dong, R. Yang, & S. Luding (Eds.), POWDERS AND GRAINS 2013: Proceedings of the 7th International Conference on Micromechanics of Granular Media (pp. 385-388). (AIP Conference Proceedings; Vol. 1542). MELVILLE: Amer Inst Physics. https://doi.org/10.1063/1.4811948

Vancouver

Jiang A, Aste T, Dasgupta P, Althoefer K, Nanayakkara T. Granular Jamming Transitions for a Robotic Mechanism. In Yu A, Dong K, Yang R, Luding S, editors, POWDERS AND GRAINS 2013: Proceedings of the 7th International Conference on Micromechanics of Granular Media. MELVILLE: Amer Inst Physics. 2013. p. 385-388. (AIP Conference Proceedings). https://doi.org/10.1063/1.4811948

Author

Jiang, Allen ; Aste, Tomaso ; Dasgupta, Prokar ; Althoefer, Kaspar ; Nanayakkara, Thrishantha. / Granular Jamming Transitions for a Robotic Mechanism. POWDERS AND GRAINS 2013: Proceedings of the 7th International Conference on Micromechanics of Granular Media. editor / A Yu ; K Dong ; R Yang ; S Luding. MELVILLE : Amer Inst Physics, 2013. pp. 385-388 (AIP Conference Proceedings).

Bibtex Download

@inbook{2e2bb1e592a5422b8b5a7db27e0347ca,
title = "Granular Jamming Transitions for a Robotic Mechanism",
abstract = "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.",
keywords = "granular jamming, finger, assemblable hand, medical, robot, compliant, variable stiffness, hydraulic, pneumatic, MANIPULATOR, DESIGN",
author = "Allen Jiang and Tomaso Aste and Prokar Dasgupta and Kaspar Althoefer and Thrishantha Nanayakkara",
year = "2013",
doi = "10.1063/1.4811948",
language = "English",
isbn = "978-0-7354-1166-1",
series = "AIP Conference Proceedings",
publisher = "Amer Inst Physics",
pages = "385--388",
editor = "A Yu and K Dong and R Yang and S Luding",
booktitle = "POWDERS AND GRAINS 2013",

}

RIS (suitable for import to EndNote) Download

TY - CHAP

T1 - Granular Jamming Transitions for a Robotic Mechanism

AU - Jiang, Allen

AU - Aste, Tomaso

AU - Dasgupta, Prokar

AU - Althoefer, Kaspar

AU - Nanayakkara, Thrishantha

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

KW - granular jamming

KW - finger

KW - assemblable hand

KW - medical

KW - robot

KW - compliant

KW - variable stiffness

KW - hydraulic

KW - pneumatic

KW - MANIPULATOR

KW - DESIGN

U2 - 10.1063/1.4811948

DO - 10.1063/1.4811948

M3 - Conference paper

SN - 978-0-7354-1166-1

T3 - AIP Conference Proceedings

SP - 385

EP - 388

BT - POWDERS AND GRAINS 2013

A2 - Yu, A

A2 - Dong, K

A2 - Yang, R

A2 - Luding, S

PB - Amer Inst Physics

CY - MELVILLE

ER -

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