Fibre jamming

Title: Fibre jamming studies and design

Granular jamming is a phenomenon where a sack of granules can go from a fluidic object to a solid shape when the air in the sack is sucked out. We have recently found that the shape and size of granules together with the elasticity of the membrane matter in the stiffness range and the level of hysteresis in granular jamming. The aim of this study is to test the effect of different types of fibre and soft media on the stiffness range that can be achieved by vacuuming or twisting the sack. The findings will help us to develop smart soft robots.

References:

Jiang, G. Xynogalas, P. Dasgupta, K. Althoefer, and T. Nanayakkara, “Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Portugal, 2012.

A. Jiang, A. Ataollahi, K. Althoefer, P. Dasgupta, and T. Nanayakkara, “A variable stiffness joint by granular jamming,” ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC 2012), Chicago, IL, USA, 2012.

Corwin, Eric I., Heinrich M. Jaeger, and Sidney R. Nagel. “Structural signature of jamming in granular media.” Nature 435.7045 (2005): 1075-1078.

 

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