{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,27]],"date-time":"2026-07-27T15:39:26Z","timestamp":1785166766906,"version":"3.55.0"},"reference-count":40,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2020,12,1]],"date-time":"2020-12-01T00:00:00Z","timestamp":1606780800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Soft Robotics"],"published-print":{"date-parts":[[2020,12,1]]},"abstract":"<jats:p>Grasping is an important characteristic of robots in interacting with humans and the environment. Due to the inherent compliance of soft grippers, they can easily adapt to novel objects and operate safely in a human-centered environment. However, soft hands suffer from poor grasping robustness and operation durability, especially for heavy objects or objects with sharp spikes, mainly due to their fragile material and low structural stiffness of the soft actuators. Thus, the widespread use of soft hands in daily applications is still limited. Existing works have shown a promising direction to enhance grasping performance by solving the contradiction between inherent compliance\/adaptability and loading capacity. It is known that the stiffness of the robotic phalange is highly related to the performance of robotic hands. In this article, we propose a novel variable stiffness particle phalange, called VSPP here. The proposed VSPP exhibits variable stiffness characteristics without the need for dedicated actuation by utilizing passive particle jamming resulted from forces in interacting with the environment. The VSPP can cooperate with any kind of actuators, soft or rigid, to function as a compliant and robust robotic hand. A prototype robotic hand based on VSPP could maintain reliable grasping even when pierced by sharp objects such as a needle, a cactus, and a durian. This durability is effective both in air and underwater, thus presents new possibilities for the soft robotic hand to work in a harsh environment. The inherent multidirectional compliance of the VSPP makes safety in human\/robot interaction guaranteed. The design and modeling presented in this research will provide useful guidance in VSPP applications. A prototype gripper, VSPP-3, composed of three 2-segments VSPP fingers and pneumatic joints, has been built for demonstrations in reliable and robust grasping of daily objects. The sample grasping has shown that the proposed VSPP has great potential for a robust and durable soft robotic hand or gripper design.<\/jats:p>","DOI":"10.1089\/soro.2019.0089","type":"journal-article","created":{"date-parts":[[2020,4,22]],"date-time":"2020-04-22T11:27:01Z","timestamp":1587554821000},"page":"743-757","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":103,"title":["Adaptive Variable Stiffness Particle Phalange for Robust and Durable Robotic Grasping"],"prefix":"10.1177","volume":"7","author":[{"given":"Jianshu","family":"Zhou","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering and The University of Hong Kong, Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yonghua","family":"Chen","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and The University of Hong Kong, Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yong","family":"Hu","sequence":"additional","affiliation":[{"name":"Department of Orthopaedics and Traumatology, The University of Hong Kong, Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zheng","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and The University of Hong Kong, Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yunquan","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering and The University of Hong Kong, Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guoying","family":"Gu","sequence":"additional","affiliation":[{"name":"Soft Robotics and Biodesign Lab, Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yunhui","family":"Liu","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2020,12,17]]},"reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_3_3_3_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-009-0064-6"},{"key":"e_1_3_3_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.897777"},{"key":"e_1_3_3_5_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909360852"},{"key":"e_1_3_3_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.tibtech.2013.03.002"},{"key":"e_1_3_3_7_2","doi-asserted-by":"publisher","DOI":"10.1002\/adem.201700016"},{"key":"e_1_3_3_8_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2428504"},{"key":"e_1_3_3_9_2","first-page":"1","article-title":"Mechanically programmable bend radius for fiber-reinforced soft actuators. In 2013 16th International Conference on Advanced Robotics (ICAR)","author":"Galloway KC","year":"2013","unstructured":"Galloway KC, , Polygerinos P, , Walsh CJ, et al. Mechanically programmable bend radius for fiber-reinforced soft actuators. In 2013 16th International Conference on Advanced Robotics (ICAR). Karlsruhe, Germany: IEEE,, 2013:1\u20136.","journal-title":"Karlsruhe, Germany: IEEE,"},{"key":"e_1_3_3_10_2","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2016.2613281"},{"key":"e_1_3_3_11_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2017.0090"},{"key":"e_1_3_3_12_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.compositesb.2016.09.004"},{"key":"e_1_3_3_13_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0034"},{"key":"e_1_3_3_14_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0060"},{"key":"e_1_3_3_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2636899"},{"key":"e_1_3_3_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2171093"},{"key":"e_1_3_3_17_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.matdes.2018.07.027"},{"key":"e_1_3_3_18_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201503078"},{"key":"e_1_3_3_19_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2329367"},{"key":"e_1_3_3_20_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0027"},{"key":"e_1_3_3_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2716445"},{"key":"e_1_3_3_22_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2851360"},{"key":"e_1_3_3_23_2","first-page":"412","article-title":"A soft robotic approach to robust and dexterous grasping. In 2018 IEEE International Conference on Soft Robotics (RoboSoft)","author":"Zhou J","year":"2018","unstructured":"Zhou J, , Chen X, , Li J, et al. A soft robotic approach to robust and dexterous grasping. In 2018 IEEE International Conference on Soft Robotics (RoboSoft). Livorno, Italy: IEEE,, 2018:412\u2013417.","journal-title":"Livorno, Italy: IEEE,"},{"key":"e_1_3_3_24_2","doi-asserted-by":"publisher","DOI":"10.1002\/adfm.201806698"},{"key":"e_1_3_3_25_2","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2016.00069"},{"key":"e_1_3_3_26_2","doi-asserted-by":"publisher","DOI":"10.3390\/act6030023"},{"key":"e_1_3_3_27_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.06.009"},{"key":"e_1_3_3_28_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0015"},{"key":"e_1_3_3_29_2","first-page":"4237","article-title":"Innovative soft robots based on electro-rheological fluids","author":"Sadeghi A","year":"2012","unstructured":"Sadeghi A, , Beccai L, , Mazzolai B. Innovative soft robots based on electro-rheological fluids. In IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal,, 2012:4237\u20134242.","journal-title":"In IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal,"},{"key":"e_1_3_3_30_2","doi-asserted-by":"publisher","DOI":"10.1063\/1.3503969"},{"key":"e_1_3_3_31_2","first-page":"564","article-title":"Controlled continuous tuning of an adaptively tunable vibration absorber incorporating shape memory alloys. Smart Structures and Materials 2000: Mathematics and Control in Smart Structures","volume":"3984","author":"Williams KA","year":"2000","unstructured":"Williams KA, , Chiu GTC, , Bernhard RJ. Controlled continuous tuning of an adaptively tunable vibration absorber incorporating shape memory alloys. Smart Structures and Materials 2000: Mathematics and Control in Smart Structures. International Society for Optics and Photonics, 2000; 3984:564\u2013576.","journal-title":"International Society for Optics and Photonics"},{"key":"e_1_3_3_32_2","first-page":"1097","article-title":"Variable stiffness actuator for soft robotics using dielectric elastomer and low-melting-point alloy","author":"Shintake J","year":"2015","unstructured":"Shintake J, , Schubert B, , Rosset S, et al. Variable stiffness actuator for soft robotics using dielectric elastomer and low-melting-point alloy. In RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Hamburg, Germany,, 2015:1097\u20131102.","journal-title":"In RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, Hamburg, Germany,"},{"key":"e_1_3_3_33_2","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/24\/6\/065001"},{"key":"e_1_3_3_34_2","unstructured":"Murray RM Li Z Sastry SS. A Mathematical Introduction to Robotic Manipulation. Boca Raton FL: CRC Press 1994."},{"key":"e_1_3_3_35_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.eml.2016.02.007"},{"key":"e_1_3_3_36_2","unstructured":"Boresi AP Schmidt RJ Sidebottom OM. Advanced Mechanics of Materials. Vol. 6. New York: Wiley 1985."},{"key":"e_1_3_3_37_2","unstructured":"Timoshenko SP Gere JM. Theory of Elastic Stability. New York: McGraw-Hill 1961."},{"key":"e_1_3_3_38_2","unstructured":"Necas J Hlav\u00e1cek I. Mathematical Theory of Elastic and Elasto-Plastic Bodies: An Introduction. New York: Elsevier 1981."},{"key":"e_1_3_3_39_2","doi-asserted-by":"crossref","unstructured":"M\u00fcller I Strehlow P. Rubber and Rubber Balloons: Paradigms of Thermodynamics. Berlin Heidelberg Germany: Springer-Verlag 2004.","DOI":"10.1007\/b93853"},{"key":"e_1_3_3_40_2","article-title":"Hybrid jamming for bioinspired soft robotic fingers","author":"Yang Y","year":"2019","unstructured":"Yang Y, , Zhang Y, , Kan Z, et al. Hybrid jamming for bioinspired soft robotic fingers. Soft Robot, 2019. [Epub ahead of print]; DOI: 10.1089\/soro.2019.0093.","journal-title":"Soft Robot"},{"key":"e_1_3_3_41_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2969920"}],"container-title":["Soft Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1089\/soro.2019.0089","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1089\/soro.2019.0089","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1089\/soro.2019.0089","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T02:04:41Z","timestamp":1777687481000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1089\/soro.2019.0089"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,12,1]]},"references-count":40,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2020,12,1]]}},"alternative-id":["10.1089\/soro.2019.0089"],"URL":"https:\/\/doi.org\/10.1089\/soro.2019.0089","relation":{},"ISSN":["2169-5172","2169-5180"],"issn-type":[{"value":"2169-5172","type":"print"},{"value":"2169-5180","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,12,1]]}}}