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Related Concept Videos

Spin–Spin Coupling: Three-Bond Coupling (Vicinal Coupling)01:22

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Vicinal or three-bond coupling is commonly observed between protons attached to adjacent carbons. Here, nuclear spin information is primarily transferred via electron spin interactions between adjacent C‑H bond orbitals. This generally favors the antiparallel arrangement of spins, so 3J values are usually positive.
The extent of coupling depends on the C‑C bond length, the two H‑C‑C angles, any electron-withdrawing substituents, and the dihedral angle between the...
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Spin–Spin Coupling: Two-Bond Coupling (Geminal Coupling)01:20

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Two NMR-active nuclei bonded to a central atom can be involved in geminal or two-bond coupling. Geminal coupling is commonly seen between diastereotopic protons in chiral molecules and unsymmetrical alkenes, among others.
The central atom need not be NMR-active because its electrons are affected by the electron polarization of the spin-active atoms. However, spin information is transmitted less effectively than in one-bond coupling, and 2J values are usually weaker than 1J values. The energy of...
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Related Experiment Video

Updated: Aug 26, 2025

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
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Active entanglement enables stochastic, topological grasping.

Kaitlyn Becker1,2, Clark Teeple1, Nicholas Charles1

  • 1School of Engineering and Applied Sciences, Harvard University, Cambridge, MA 02138.

Proceedings of the National Academy of Sciences of the United States of America
|October 10, 2022
PubMed
Summary

This study introduces a novel soft grasping method using fluid-actuated filaments that actively entangle with objects. This approach bypasses the need for precise planning and feedback for adaptable grasping.

Keywords:
entanglementfilamentssoft actuatorssoft robotic graspingsoft robots

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Area of Science:

  • Robotics
  • Materials Science
  • Soft Matter Physics

Background:

  • Grasping mechanisms are often sensitive to object properties and require precise planning.
  • Existing robotic grippers face challenges with objects of varying complexity.

Purpose of the Study:

  • To develop a feedback-free, adaptable grasping strategy for diverse objects.
  • To circumvent complex perception and motion planning in robotic grasping.

Main Methods:

  • Utilized an array of fluidically actuated slender hollow elastomeric filaments.
  • Employed active entanglement for object interaction.
  • Experimentally evaluated grasping performance.
  • Developed a computational framework for filament mechanics.

Main Results:

  • Demonstrated a soft and conformable grasping strategy across various object sizes, weights, and shapes.
  • Showcased successful grasping through stochastic interactions and collective entanglement.
  • Validated the effectiveness of uncontrolled, spatially distributed actuation.

Conclusions:

  • Active collective entanglement offers a viable approach for soft, adaptable grasping.
  • This method provides a unique solution for handling objects with geometric and topological complexity.
  • Highlights the potential of filament arrays for robust robotic manipulation.