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Related Experiment Video

Updated: Jun 23, 2026

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
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Enhancing dexterity: Soft pneumatic actuation utilizing granular jamming for a human finger flexo-extension.

X Yamile Sandoval-Castro1, J German Cortes-Gonzalez2, Maximiano F Ruiz-Torres2

  • 1Department of Mechatronics, School of Engineering and Sciences, Tecnologico de Monterrey, Santiago de Querétaro, México.

Wearable Technologies
|March 12, 2025
PubMed
Summary

This study developed a soft robotic finger actuator using granular jamming for adjustable stiffness. The honeycomb design best mimicked finger movement, with active chia jamming significantly improving force output for rehabilitation applications.

Keywords:
bending motionbioinspired designflexo-extension of a human fingerforce characterizationgranular jammingpneumatic soft actuatorstiffness tuning

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Area of Science:

  • Robotics
  • Biomimetics
  • Materials Science

Background:

  • Human finger movement involves complex flexo-extension.
  • Soft actuators offer advantages in safety and adaptability for human interaction.
  • Stiffness modulation is crucial for advanced prosthetic and rehabilitation devices.

Purpose of the Study:

  • To design and evaluate a bioinspired pneumatic soft actuator mimicking human finger movement.
  • To investigate the effectiveness of granular jamming for stiffness modulation.
  • To compare different chamber geometries and jamming materials for optimal performance.

Main Methods:

  • Fabrication of a three-chamber pneumatic soft actuator using Mold Star 15 Slow elastomer.
  • Evaluation of honeycomb, rectangular, and half-round chamber geometries for curvature.
  • Implementation of passive and active granular jamming using chia and quinoa grains.
  • Experimental testing of stiffness modulation and force output.

Main Results:

  • The honeycomb geometry achieved the closest trajectory to the human index finger.
  • Stiffness modulation ranged from 0-0.47 N/mm/° (quinoa) to 0-0.9 N/mm/° (chia).
  • Force output increased by 16% (quinoa) and 71% (chia) compared to the non-jammed state.
  • Active granular jamming, particularly with chia, demonstrated superior adaptability.

Conclusions:

  • The bioinspired soft actuator with granular jamming shows promise for hand rehabilitation.
  • Honeycomb geometry and active chia jamming offer optimal performance for adaptive stiffness and force modulation.
  • This technology is well-suited for wearable robotic applications in rehabilitation.