Variable stiffness element by granular jamming (Stiffness enhancement by a wrinkle-free outer membrane)

Allen Jiang, Tommaso Ranzani, Giada Gerboni, Laura Lekstutyte, Kaspar Althoefer, Prokar Dasgupta, Thrishantha Nanayakkara, Robotic Granular Jamming: Does the Membrane Matter? Soft robotics. ,vol. 1, pp. 192- 201 ,(2014) , 10.1089/SORO.2014.0002

Min Li, Tommaso Ranzani, Sina Sareh, Lakmal D Seneviratne, Prokar Dasgupta, Helge A Wurdemann, Kaspar Althoefer, Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators Smart Materials and Structures. ,vol. 23, pp. 095007- ,(2014) , 10.1088/0964-1726/23/9/095007

Junji Furusho, Masamichi Sakaguchi, New Actuators Using ER Fluid and Their Applications to Force Display Devices in Virtual Reality and Medical Treatments International Journal of Modern Physics B. ,vol. 13, pp. 2151- 2159 ,(1999) , 10.1142/S0217979299002253

Andrew A. Stanley, Allison M. Okamura, Controllable Surface Haptics via Particle Jamming and Pneumatics IEEE Transactions on Haptics. ,vol. 8, pp. 20- 30 ,(2015) , 10.1109/TOH.2015.2391093

Nadia G. Cheng, Maxim B. Lobovsky, Steven J. Keating, Adam M. Setapen, Katy I. Gero, Anette E. Hosoi, Karl D. Iagnemma, Design and Analysis of a Robust, Low-cost, Highly Articulated manipulator enabled by jamming of granular media international conference on robotics and automation. pp. 4328- 4333 ,(2012) , 10.1109/ICRA.2012.6225373

Timothy M. Simon, Ross T. Smith, Bruce H. Thomas, Wearable jamming mitten for virtual environment haptics international symposium on wearable computers. pp. 67- 70 ,(2014) , 10.1145/2634317.2634342

Adam M. Genecov, Andrew A. Stanley, Allison M. Okamura, Perception of a Haptic Jamming display: Just noticeable differences in stiffness and geometry ieee haptics symposium. pp. 333- 338 ,(2014) , 10.1109/HAPTICS.2014.6775477

Allen Jiang, Georgios Xynogalas, Prokar Dasgupta, Kaspar Althoefer, Thrishantha Nanayakkara, None, Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling intelligent robots and systems. pp. 2922- 2927 ,(2012) , 10.1109/IROS.2012.6385696

Matteo Cianchetti, Tommaso Ranzani, Giada Gerboni, Thrishantha Nanayakkara, Kaspar Althoefer, Prokar Dasgupta, Arianna Menciassi, None, Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach Soft robotics. ,vol. 1, pp. 122- 131 ,(2014) , 10.1089/SORO.2014.0001

Tommaso Ranzani, Matteo Cianchetti, Giada Gerboni, Iris De Falco, Arianna Menciassi, A Soft Modular Manipulator for Minimally Invasive Surgery: Design and Characterization of a Single Module IEEE Transactions on Robotics. ,vol. 32, pp. 187- 200 ,(2016) , 10.1109/TRO.2015.2507160