TY - GEN
T1 - Lip-Inspired Passive Jamming Gripper
AU - Hong, Jooyoung
AU - Mathur, Dhruv C.
AU - Kim, Joohyung
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Soft robotic grippers have an advantage in grasping objects with various shapes as compared to conventional rigid grippers. Soft grippers have been researched to hold objects which are fragile. Recently, researchers have utilized the jamming effect using particles, which makes stiffness varied to hold the objects tightly. In this paper, we propose a lip-inspired soft robotic gripper. This gripper is motivated by animals' oral structure, especially from lips. Lips have various functions: holding, re-grasping, sucking in, and spitting objects. This gripper especially focuses on the functions of holding and re-grasping. The lip-pouch is fabricated including granular particles inside for passive particle jamming. This paper describes how the gripper is motivated by lips with explanations of the anatomy and functions of the lip. An explanation of the passive particle jamming effect follows. We validated the capability of the lip-pouch of the gripper with various objects through experiments. Moreover, we demonstrated re-grasping objects with this gripper.
AB - Soft robotic grippers have an advantage in grasping objects with various shapes as compared to conventional rigid grippers. Soft grippers have been researched to hold objects which are fragile. Recently, researchers have utilized the jamming effect using particles, which makes stiffness varied to hold the objects tightly. In this paper, we propose a lip-inspired soft robotic gripper. This gripper is motivated by animals' oral structure, especially from lips. Lips have various functions: holding, re-grasping, sucking in, and spitting objects. This gripper especially focuses on the functions of holding and re-grasping. The lip-pouch is fabricated including granular particles inside for passive particle jamming. This paper describes how the gripper is motivated by lips with explanations of the anatomy and functions of the lip. An explanation of the passive particle jamming effect follows. We validated the capability of the lip-pouch of the gripper with various objects through experiments. Moreover, we demonstrated re-grasping objects with this gripper.
UR - http://www.scopus.com/inward/record.url?scp=85129974537&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85129974537&partnerID=8YFLogxK
U2 - 10.1109/RoboSoft54090.2022.9762187
DO - 10.1109/RoboSoft54090.2022.9762187
M3 - Conference contribution
AN - SCOPUS:85129974537
T3 - 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022
SP - 306
EP - 311
BT - 2022 IEEE 5th International Conference on Soft Robotics, RoboSoft 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th IEEE International Conference on Soft Robotics, RoboSoft 2022
Y2 - 4 April 2022 through 8 April 2022
ER -