Journal
PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA
Volume 119, Issue 42, Pages -Publisher
NATL ACAD SCIENCES
DOI: 10.1073/pnas.2209819119
Keywords
filaments; entanglement; soft robots; soft robotic grasping; soft actuators
Categories
Funding
- Office of Naval Research [N00014-17-1- 2063]
- NSF [EFRI-1830901, DMR-1922321, DMR-2011754, DBI-1556164, EFMA-1830901, DGE1144152, DGE1745303]
- National Research Foundation of Korea [2021R1A6A3A03039239]
- Wyss Institute for Biologically Inspired Engineering
- Simons Foundation
- Henri Seydoux Fund
- National Research Foundation of Korea [2021R1A6A3A03039239] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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Grasping is sensitive to variations in size, weight, and shape in both biological and engineered mechanisms. Through experimental evaluation and computational modeling, this study explains the grasping performance of a strategy involving flexible filaments in contact with complex objects. The findings highlight the potential of active collective entanglement of filament arrays in enabling soft and adaptable grasping.
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the vary in size, weight, and shape. We experimentally evaluate the grasping performance of our strategy and use a computational framework for the collective mechanics of flexible filaments in contact with complex objects to explain our findings. Overall, our study highlights how active collective entanglement of a filament array via an uncontrolled, spatially distributed scheme provides options for soft, adaptable grasping.
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