Grasping Motion Using a Hybrid Type Jamming Transfer Holding Device

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  • ハイブリッド型ジャミング転移式保持装置を用いた把持動作の実現

Abstract

<p>The purpose of this study is to develop a holding device which has versatility and human friendliness. A conventional granular jamming gripper has some technical issues such as difficulty in holding small objects, gravitational influence on granular. Therefore, we develop the hybrid jamming holding device composed of granular and porous materials and a thin sheet. This hybrid structure can improve holding performance by compensating for a mutual weaknesses. In addition, a bending actuator is installed on the holding device to grasp an object. In this paper, we describe principle and structure of the device and then the grasping performance is confirmed experimentally.</p>

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