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Granular jamming with hydraulic control

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

Original languageEnglish
Title of host publicationProceedings of the ASME Design Engineering Technical Conference
PublisherAmerican Society of Mechanical Engineers
Number of pages7
Volume6 A
ISBN (Print)9780791855935
DOIs
Publication statusPublished - 8 Aug 2013
EventASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States
Duration: 4 Aug 20137 Aug 2013

Conference

ConferenceASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
CountryUnited States
CityPortland, OR
Period4/08/20137/08/2013

King's Authors

Abstract

In the field of soft robotics, granular jamming is a newly adopted variable stiffness mechanism involving the use of vacuum pressure to control soft, particulate matter to become a unified, solid-like structure. However, granular jamming is conventionally controlled with air, which reduces the mobility of the robot. This is because the compressibility of air requires large vacuum pumps or chambers. Instead, we propose the use of an incompressible fluid, such as water, to control the stiffness of the mechanism. This paper presents comparative studies that shows that a hydraulic granular jammed joint using deaired water can both achieve the same stiffness level with just one twentieth of the volume extraction and maintain the same hysteresis level of an air-based system.

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