Abstract: In some embodiments, provided is soft grippers, methods of making the same, systems and methods of controlling the same. In one embodiment, the soft gripper comprises a main body comprising a suction cup portion and a neck portion; and a contact membrane, wherein the neck portion comprises a neck chamber and the suction cup portion comprises a suction cup chamber therein, together form a main chamber that is configured to be in gas communication with a first pneumatic source and to receive a jamming material, and wherein the neck portion comprises at least one assisted chambers therein disposed around the neck chamber and configured to be in gas communication with a second pneumatic source. Other example embodiments are described herein. In certain embodiments, provided soft grippers enable seamless transformation between suction gripper configuration and jamming gripper configuration, thereby enhanced grasping capability and versatility.

Abstract: In some embodiments, provided is soft grippers, methods of making the same, systems and methods of controlling the same. In one embodiment, the soft gripper comprises a main body comprising a suction cup portion and a neck portion; and a contact membrane, wherein the neck portion comprises a neck chamber and the suction cup portion comprises a suction cup chamber therein, together form a main chamber that is configured to be in gas communication with a first pneumatic source and to receive a jamming material, and wherein the neck portion comprises at least one assisted chambers therein disposed around the neck chamber and configured to be in gas communication with a second pneumatic source. Other example embodiments are described herein. In certain embodiments, provided soft grippers enable seamless transformation between suction gripper configuration and jamming gripper configuration, thereby enhanced grasping capability and versatility.

Abstract: Devices, systems and methods of controlling movement of a host mechanical system using inertial forces imparted by an augmentable or morphable appendage. Such appendages are attached to the host mechanical system such that augmentation or morphing of the appendage to move a mass of the appendage from an extended to a retracted configuration imparts inertial forces to the supporting structure. Augmentation/morphing is controlled and coordinated such that imparted inertial forces facilitate a desired movement of the mechanical system. The imparted forces can include translation forces and/or rotational forces along one or more axes. The augmentation or morphing of the appendage can be performed concurrently with separately controlled coordinated movement of the appendage to facilitate a desired movement of the mechanical system. Such appendages can include, but are not limited to, telescoping and/or folding designs.

Abstract: Devices, systems and methods of controlling movement of a host mechanical system using inertial forces imparted by an augmentable or morphable appendage. Such appendages are attached to the host mechanical system such that augmentation or morphing of the appendage to move a mass of the appendage from an extended to a retracted configuration imparts inertial forces to the supporting structure. Augmentation/morphing is controlled and coordinated such that imparted inertial forces facilitate a desired movement of the mechanical system. The imparted forces can include translation forces and/or rotational forces along one or more axes. The augmentation or morphing of the appendage can be performed concurrently with separately controlled coordinated movement of the appendage to facilitate a desired movement of the mechanical system. Such appendages can include, but are not limited to, telescoping and/or folding designs.