Utilization of Magnetically Induced Jamming in a Universal Gripper*

We created a high functioning, low cost, soft robotic gripper utilizing granular jamming in order to satisfy a worldwide need for low cost, highly functional prosthetics. Our gripper utilizes a rigid three prong mechanism to grasp an object, analogous to an arcade claw machine. In contrast to the arcade claw machines' rigid arms, which struggle to grasp objects, our rigid gripper is enhanced with granular pads attached to the end of each arm. These pads conform to the object to be gripped thereby increasing hold strength. The pads consist of iron filings encapsulated by rubber membranes allowing the pads to be jammed and unjammed with the utilization of a magnetic field. The operation of our gripper is as follows: when the object comes into the grasp of the gripper the object will indent into the soft cushion of the unjammed pads, which will then be jammed into a rigid state via an external magnetic field produced by a solenoid and secure the object into the gripper's grasp. This design will allow for a strong and secure hold on the object being gripped allowing for complete movements such as picking up and putting down objects, as well as the ability to complete tasks such as turning open a doorknob.