Next Article in Journal
Real-Time Implementation of a New MPPT Control Method for a DC-DC Boost Converter Used in a PEM Fuel Cell Power System
Next Article in Special Issue
Programmable Stimuli-Responsive Actuators for Complex Motions in Soft Robotics: Concept, Design and Challenges
Previous Article in Journal
Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis
Previous Article in Special Issue
Biohybrid Actuators for Soft Robotics: Challenges in Scaling Up
Review

A Review of Jamming Actuation in Soft Robotics

1
Data61, CSIRO-Commonwealth Scientific and Industrial Research Organisation, Brisbane 4069, Australia
2
Science and Engineering Faculty, QUT-Queensland University of Technology, Brisbane 4000, Australia
3
Data61, CSIRO-Commonwealth Scientific and Industrial Research Organisation, Melbourne 3008, Australia
*
Author to whom correspondence should be addressed.
Actuators 2020, 9(4), 104; https://doi.org/10.3390/act9040104
Received: 1 September 2020 / Revised: 28 September 2020 / Accepted: 3 October 2020 / Published: 15 October 2020
(This article belongs to the Special Issue Soft Actuation: State of the Art and Outlook)
Jamming is a popular and versatile soft robotic mechanism, enabling new systems to be developed that can achieve high stiffness variation with minimal volume variation. Numerous applications have been reported, including deep-sea sampling, industrial gripping, and use as paws for legged locomotion. This review explores the state-of-the-art for the three classes of jamming actuator: granular, layer and fibre jamming. We highlight the strengths and weaknesses of these soft robotic systems and propose opportunities for further development. We describe a number of trends, promising avenues for innovative research, and several technology gaps that could push the field forwards if addressed, including the lack of standardization for evaluating the performance of jamming systems. We conclude with perspectives for future studies in soft jamming robotics research, particularly elucidating how emerging technologies, including multi-material 3D printing, can enable the design and creation of increasingly diverse and high-performance soft robotic mechanisms for a myriad of new application areas. View Full-Text
Keywords: jamming actuation; granular jamming; layer jamming; fibre jamming; soft actuators; soft robotics; stiffness-tuneable mechanisms jamming actuation; granular jamming; layer jamming; fibre jamming; soft actuators; soft robotics; stiffness-tuneable mechanisms
Show Figures

Figure 1

MDPI and ACS Style

Fitzgerald, S.G.; Delaney, G.W.; Howard, D. A Review of Jamming Actuation in Soft Robotics. Actuators 2020, 9, 104. https://doi.org/10.3390/act9040104

AMA Style

Fitzgerald SG, Delaney GW, Howard D. A Review of Jamming Actuation in Soft Robotics. Actuators. 2020; 9(4):104. https://doi.org/10.3390/act9040104

Chicago/Turabian Style

Fitzgerald, Seth G., Gary W. Delaney, and David Howard. 2020. "A Review of Jamming Actuation in Soft Robotics" Actuators 9, no. 4: 104. https://doi.org/10.3390/act9040104

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Back to TopTop