John R. Amend

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—We describe a simple passive universal gripper, consisting of a mass of granular material encased in an elastic membrane. Using a combination of positive and negative pressure, the gripper can rapidly grip and release a wide range of objects that are typically challenging for universal grippers, such as flat objects , soft objects, or objects with complex(More)
— Grasping has been studied from various perspectives including planning, control, and learning. In this paper, we take a learning approach to predict successful grasps for a universal jamming gripper. A jamming gripper is comprised of a flexible membrane filled with granular material, and it can quickly harden or soften to grip objects of varying shape by(More)
We present a low cost, desktop size, open source, universal testing machine, designed for inexpensive high-throughput material testing. The tester can apply tensile and compressive loads up to 5 kN at rates ranging from 2 mm/min to 30 mm/min. Force measurements are achieved with ±1.8 N accuracy. The parts list for this machine represents an order of(More)
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