Soft Robotics Commercialization: Jamming Grippers from Research to Product

Abstract

Recent work in the growing field of soft robotics has demonstrated a number of very promising technologies. However, to make a significant impact in real-world applications, these new technologies must first transition out of the laboratory through successful commercialization. Commercialization is perhaps the most critical future milestone facing the field of soft robotics today, and this process will reveal whether the apparent impact we now perceive has been appropriately estimated. Since 2012, Empire Robotics has been one of the first companies to attempt to reach this milestone through our efforts to commercialize jamming-based robotic gripper technology in a product called VERSABALL^®. However, in spring 2016 we are closing our doors, having not been able to develop a sustainable business around this technology. This article presents some of the key takeaways from the technical side of the commercialization process and lessons learned that may be valuable to others. We hope that sharing this information will provide a frame of reference for technology commercialization that can help others motivate research directions and maximize research impact.

Keywords: highly deformable robots; soft manipulation; variable stiffness actuation.

FIG. 1.

Empire Robotics has commercialized jamming-based robotic gripping technology in a product called VERSABALL^®. Color images available online at www.liebertpub.com/soro

FIG. 2.

A modular end-of-arm-tool design incorporates an Adapter Plate that matches many robot wrist bolt patterns and a quick-change Base for replacing the wear components contained in the Head.

FIG. 3.

Jamming grippers scale well from very small (A) to very large (B) sizes. Grippers of various size show that holding force is maximized when the object diameter is approximately half of the gripper diameter (C). Color images available online at www.liebertpub.com/soro

FIG. 4.

Iterations on the VERSABALL jamming gripper product. *Commercial V2.1 and 2.2 are visually very similar. Color images available online at www.liebertpub.com/soro

FIG. 5.

Two freshly dipped mandrels hanging to dry (left). After dipping, dispersions are removed in a hot water bath (right). Color images available online at www.liebertpub.com/soro

FIG. 6.

Custom durability testing machines are used to test the service life of gripper membranes (left). Candidate gripper assemblies are tested for holding force during durability testing (right). Color images available online at www.liebertpub.com/soro

FIG. 7.

Here, “shear pressure” is defined as the ratio between pull-out force and theoretical shear contact area between the gripper and target object (determined by the displacement of the crosshead the gripper is mounted to). (a) and (b) present “shear pressure” versus push-down load, while (c) and (d) present pull-out load versus push-down distance, where (a) and (c) correspond to the 46-mm-diameter cylinder as the target object, and (b) and (d) correspond to the 23-mm-diameter target object. Renderings of the five different membrane shapes tested (A–E) have ellipsoidal minor and major axes as follows: (A) and (B): 50.8 × 114.3 mm; (C) and (D): 44.45 × 78.59 mm; and (E): 57.91 × 101.6 mm. Color images available online at www.liebertpub.com/soro

FIG. 8.

Retention force (PC), SC (a measure of how soft the gripper is when unjammed), and jammed modulus (E) (a measure of how hard the gripper is when jammed) for three different grain sizes. The 35–60 mesh grains achieve both the highest grip strength and highest SC. SC, soft compliance. Color images available online at www.liebertpub.com/soro

FIG. 9.

Photographs of some additional jamming gripper concepts being explored at Empire Robotics. Integrated sensors to detect membrane wear and failure through changes in air pressure (A); the influence of granular material particle shape, material blends, and fill ratio (B); prototypes with food-safe materials (C); magnetically actuated jamming (D); fiber-reinforced membrane materials (E); membranes with patterned textures (F); hybrid vacuum cups (G); jawed finger grippers (H) with integrated jamming material; and a pilot study to explore prostheses for upper limb amputees (I). Color images available online at www.liebertpub.com/soro