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Towards shape-adaptive attachment design for wearable devices using granular jamming.

Joseph Brignone1, Logan Lancaster1, Edoardo Battaglia1

  • 1Department of Mechanical Engineering and the Robotics Center, University of Utah, Salt Lake City, UT, USA 84112.

IEEE Robotics and Automation Letters
|March 31, 2025
PubMed
Summary

Wearable devices can now better fit diverse body shapes using granular jamming technology. This method uses vacuum pressure to stiffen a membrane, improving stability and attachment for robots and other applications.

Keywords:
Granular JammingPhysical Human-Robot InteractionWearable Robotics

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Area of Science:

  • Robotics
  • Materials Science
  • Biomechanics

Background:

  • Attaching wearable devices to the human body presents challenges due to varying and changing body shapes.
  • Existing solutions often struggle with comfort, function, and adaptability.

Purpose of the Study:

  • To introduce and evaluate a granular jamming approach for adaptable wearable device attachments.
  • To investigate design parameters influencing the stability of granular jamming interfaces.

Main Methods:

  • Developed a granular jamming system using a granule-filled membrane that stiffens via vacuum-induced friction.
  • Created a bench prototype with modular jamming structures attached to objects of varying shapes and sizes.
  • Experimentally tested the interface's resistance to lateral forces under different conditions.

Main Results:

  • Granular jamming significantly increased structure stability, with forces ranging from 1.73 to 2.16 N.
  • Optimal performance was achieved using three modules, high suspension force, and low membrane infill (~25%).
  • The system demonstrated adaptability to complex shapes in a soft state and rigidity in a jammed state.

Conclusions:

  • Granular jamming offers a viable solution for creating adaptable and stable wearable attachments.
  • The findings provide a foundation for developing next-generation wearable robotic systems and human-machine interfaces.
  • Further research can explore advanced materials and control strategies for enhanced performance.