This video shows 1) the fabrication process of the proposed finger in which the hybrid mechanism of tendon-driven and jamming transition was embedded, and 2) the results of grasping test.
1. The fabrication process was shown. The finger is constructed using a skeleton, particles, and an outer rubber skin. The particles (rice) was put into the outer rubber. Subsequently, the skeleton was inserted into the rice. After the fabrication, the motion of the finger was presented. The smooth flexing of the finger was fixed by the jamming transition. If unjamming it, the flexibility of the finger was obtained again.
2. Grasping test was presented at first. Then, an operation in which a deformable plastic tube including two tennis balls was grasped and shaken. Subsequently, we grasped a deformable paper box including water, poured the water into a deformable plastic cup, grasped the cup, and poured the water into a vase.
See the following paper for more details.
Kaori Mizushima, Takumi Oku, Yosuke Suzuki, Tokuo Tsuji, Tetsuyou Watanabe, Multi-Fingered Robotic Hand Based on Hybrid Mechanism of Tendon-Driven and Jamming Transition, Proceedings of the IEEE International Conference on Soft Robotics (RoboSoft), pp.24-28, 2018. (Best Poster Finalist) doi:10.1109/ROBOSOFT.2018.8404948
Detail (Please go to get PDF)