The DOI matches its Crossref record.
JSEL: Jamming Skin Enabled Locomotion
Abstract
A soft, mobile, morphing robot is a desirable platform for traversing rough terrain and navigating into small holes. In this work, a new paradigm in soft robots is presented that utilizes jamming of a granular medium. The concept of activators (as opposed to actuators) is presented to jam and unjam cells that then modulate the direction and amount of work done by a single central actuator. A prototype jamming soft robot utilizing JSEL (Jamming Skin Enabled Locomotion) with external power and control is discussed and both morphing results and mobility (rolling) results are presented. Future directions for the design of a soft, hole traversing robot are discussed, as is the role and promises of jamming as an enabling technology for soft robotics.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cited by
Design, fabrication and control of soft robots
Rus, D., & Tolley, M. T. (2015) · Nature · doi:10.1038/nature14543 · Cited by 5,825
Soft robotics: Technologies and systems pushing the boundaries of robot abilities
Laschi, C., Mazzolai, B., & Cianchetti, M. (2016) · Science Robotics · doi:10.1126/scirobotics.aah3690 · Cited by 1,570
A 3D-printed, functionally graded soft robot powered by combustion
Bartlett, N. W., Tolley, M. T., Overvelde, J. T. B., Weaver, J. C., Mosadegh, B., Bertoldi, K., Whitesides, G. M., & Wood, R. J. (2015) · Science · doi:10.1126/science.aab0129 · Cited by 1,052
Using origami design principles to fold reprogrammable mechanical metamaterials
Silverberg, J. L., Evans, A. A., McLeod, L., Hayward, R. C., Hull, T., Santangelo, C. D., & Cohen, I. (2014) · Science · doi:10.1126/science.1252876 · Cited by 1,011
Electronic skins and machine learning for intelligent soft robots
Shih, B., Shah, D., Li, J., Thuruthel, T. G., Park, Y.-L., Iida, F., Bao, Z., Kramer-Bottiglio, R., & Tolley, M. T. (2020) · Science Robotics · doi:10.1126/scirobotics.aaz9239 · Cited by 715
Metadata
- Authors
- Steltz, E., Mozeika, A., Rodenberg, N., Brown, E., & Jaeger, H. M.
- Venue
- 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2009-10
- Pages
- 5672-5677
- OpenAlex
- W2146947104
- Cited by
- 207
- References
- 0
- FWCI
- 15.30
- Type
- conference paper
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: JSEL: Jamming Skin Enabled Locomotion. https://app.cochat.ai/papers/10.1109/iros.2009.5354790
- The paper
- Steltz, E., Mozeika, A., Rodenberg, N., Brown, E., & Jaeger, H. M. (2009). JSEL: Jamming Skin Enabled Locomotion. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems. https://doi.org/10.1109/iros.2009.5354790
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
