The DOI matches its Crossref record; 7 of the 7 references it cites were found in a registry or an index.
A Novel Layer Jamming Mechanism With Tunable Stiffness Capability for Minimally Invasive Surgery
Abstract
This paper presents a novel “layer jamming” mechanism that can achieve variable stiffness. The layer jamming mechanism exploits the friction present between layers of thin material, which can be controlled by a confining pressure. Due to the mechanism's hollow geometry, compact size, and light weight, it is well suited for various minimally invasive surgery applications, where stiffness change is required. This paper describes the concept, the mathematical model, and a tubular snake-like manipulator prototype. Various characteristics of layer jamming, such as stiffness and yield strength, are studied both theoretically and experimentally.
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Cites
Universal robotic gripper based on the jamming of granular material
Brown, E., Rodenberg, N., Amend, J., Mozeika, A., Steltz, E., Zakin, M. R., Lipson, H., & Jaeger, H. M. (2010) · Proceedings of the National Academy of Sciences · doi:10.1073/pnas.1003250107 · Cited by 1,603
Force Modeling for Needle Insertion Into Soft Tissue
Okamura, A. M., Simone, C., & O'Leary, M. D. (2004) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2004.831542 · Cited by 830
Cheng, N. G., Lobovsky, M. B., Keating, S. J., Setapen, A. M., Gero, K. I., Hosoi, A. E., & Iagnemma, K. D. (2012) · 2012 IEEE International Conference on Robotics and Automation · doi:10.1109/icra.2012.6225373 · Cited by 314
Self-citationPettersson, A., Davis, S., Gray, J. O., Dodd, T. J., & Ohlsson, T. (2010) · Journal of Food Engineering · doi:10.1016/j.jfoodeng.2009.11.020 · Cited by 271
A review of medical robotics for minimally invasive soft tissue surgery
Dogangil, G., Davies, B. L., & Rodriguez y Baena, F. (2010) · Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine · doi:10.1243/09544119jeim591 · Cited by 225
Design of a tubular snake-like manipulator with stiffening capability by layer jamming
Kim, Y.-J., Cheng, S., Kim, S., & Iagnemma, K. D. (2012) · IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2012.6385574 · Cited by 138
Self-citationHighly articulated robotic probe for minimally invasive surgery
Degani, A., Choset, H., Zubiate, B., Ota, T., & Zenati, M. A. (2008) · doi:10.1109/iembs.2008.4649903 · Cited by 53
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Wearable Sensors‐Enabled Human–Machine Interaction Systems: From Design to Application
Yin, R., Wang, D., Zhao, S., Lou, Z., & Shen, G. (2021) · Advanced Functional Materials · doi:10.1002/adfm.202008936 · Cited by 769
Fluid-driven origami-inspired artificial muscles
Li, S., Vogt, D. M., Rus, D., & Wood, R. J. (2017) · Proceedings of the National Academy of Sciences · doi:10.1073/pnas.1713450114 · Cited by 747
Fast‐Response, Stiffness‐Tunable Soft Actuator by Hybrid Multimaterial 3D Printing
Zhang, Y., Zhang, N., Hingorani, H., Ding, N., Wang, D., Yuan, C., Zhang, B., Gu, G., & Ge, Q. (2019) · Advanced Functional Materials · doi:10.1002/adfm.201806698 · Cited by 513
Passive Particle Jamming and Its Stiffening of Soft Robotic Grippers
Li, Y., Chen, Y., Yang, Y., & Wei, Y. (2017) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2636899 · Cited by 331
Mechanically Versatile Soft Machines through Laminar Jamming
Narang, Y. S., Vlassak, J. J., & Howe, R. D. (2018) · Advanced Functional Materials · doi:10.1002/adfm.201707136 · Cited by 256
Metadata
- Authors
- Kim, Y.-J., Cheng, S., Kim, S., & Iagnemma, K.
- Venue
- IEEE Transactions on Robotics
- Published
- 2013-08
- Volume
- 29
- Issue
- 4
- Pages
- 1031-1042
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2074535625
- Cited by
- 428
- References
- 7
- FWCI
- 5.85
- Type
- journal article
- Language
- en
- Open access
- closed
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- Kim, Y.-J., Cheng, S., Kim, S., & Iagnemma, K. (2013). A Novel Layer Jamming Mechanism With Tunable Stiffness Capability for Minimally Invasive Surgery. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2013.2256313
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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.
