A Stiffness-Changeable Soft Finger Based on Chain Mail Jamming
Zhengtao Hu,Abdullah Ahmed,Weiwei Wan,Tetsuyou Watanabe,Kensuke Harada,Zhengtao Hu,Abdullah Ahmed,Weiwei Wan,Tetsuyou Watanabe,Kensuke Harada
This paper presents a stiffness-changeable soft finger using chain mail jamming. This finger can achieve adaptive grasping and in-hand manipulation by reshaping and exerting changeable gripping force. The jamming phenomenon happens when particles in a chamber get interlocked where confining pressure is exerted at their boundaries, which is widely used to construct mechanisms with changeable stiffn...
