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Related Concept Videos

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Related Experiment Video

Updated: Jan 8, 2026

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
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A Stiffness-Tunable Soft Actuator with Adjustable Jamming for Dexterous Manipulation.

Shuoqi Wang1, Wei Wang1

  • 1Marine Robotics Lab, Department of Mechanical Engineering, University of Wisconsin, Madison, Madison, Wisconsin, USA.

Soft Robotics
|December 24, 2025
PubMed
Summary

We developed the Jamming Adjustable PneuNet Actuator (JAPA), a soft robotic finger with adjustable stiffness and bending. This novel design enhances robotic dexterity and force control for versatile applications.

Keywords:
adjustable bending profilehybrid jammingin-hand manipulationsoft robot

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Soft robotic actuators require adaptable stiffness and controllable bending for advanced manipulation.
  • Existing soft fingers often lack the ability to dynamically adjust their physical properties.
  • Hybrid jamming techniques offer potential for enhanced actuator performance.

Purpose of the Study:

  • To introduce a novel soft robotic finger, the Jamming Adjustable PneuNet Actuator (JAPA).
  • To demonstrate JAPA's capability for simultaneous stiffness modulation and tunable bending.
  • To evaluate JAPA's performance in force control, dexterity, and object manipulation.

Main Methods:

  • Developed JAPA using a flexible hybrid jamming approach, combining layer and granular jamming.
  • Integrated a magnetically positioned sliding mechanism to adjust layer jamming length for dynamic bending profile reshaping.
  • Incorporated distributed granular jamming for adaptive stiffness reinforcement.

Main Results:

  • JAPA achieved a maximum stiffness gain of 3.55×.
  • Demonstrated over 200% workspace expansion and >300% improvement in multidirectional force modulation.
  • Successfully operated a computer cursor and manipulated diverse objects with a JAPA gripper.

Conclusions:

  • JAPA offers significant advancements in multidirectional force control and dexterity.
  • The design enables safe handling of delicate and irregularly shaped objects.
  • JAPA shows promise for assistive robotics, adaptive grasping, and human-interactive devices.