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Taking advantage of different characteristics of layer jamming and particle jamming, the substrate is designed with three chambers filled with layers (function as bones) and two chambers filled with particles (function as joints). The layer regions and particle regions are interlocked with each other to guarantee load transfer from the fixed finger end to fingertip. With the proposed design, the finger is endowed with bending shape control, as well as variable stiffness capabilities. Theoretical analysis is conducted to predict the stiffness variation of the proposed finger at different vacuum levels, and experimental tests are performed to evaluate the finger's shape control and stiffness tuning effectiveness. Experimental results show that the proposed finger can achieve 5.52 times stiffness enhancement at primary position. Finally, we fabricate a gripper and perform grasping demonstrations on several objects. Results show that the gripper is able to transfer between low stiffness state for adaptive grasping and high stiffness state for robust holding.<\/jats:p>","DOI":"10.1089\/soro.2019.0093","type":"journal-article","created":{"date-parts":[[2019,11,22]],"date-time":"2019-11-22T11:11:11Z","timestamp":1574421071000},"page":"292-308","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":151,"title":["Hybrid Jamming for Bioinspired Soft Robotic Fingers"],"prefix":"10.1177","volume":"7","author":[{"given":"Yang","family":"Yang","sequence":"first","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering and Hong Kong University of Science and Technology, Kowloon, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yazhan","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering and Hong Kong University of Science and Technology, Kowloon, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zicheng","family":"Kan","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering and Hong Kong University of Science and Technology, Kowloon, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jielin","family":"Zeng","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering and Hong Kong University of Science and Technology, Kowloon, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Michael Yu","family":"Wang","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering and Hong Kong University of Science and Technology, Kowloon, Hong Kong."},{"name":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Kowloon, Hong Kong."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2020,6,2]]},"reference":[{"key":"e_1_3_4_2_2","doi-asserted-by":"publisher","DOI":"10.1002\/anie.201800907"},{"key":"e_1_3_4_3_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_3_4_4_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2013.0001"},{"key":"e_1_3_4_5_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201707035"},{"key":"e_1_3_4_6_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915592961"},{"key":"e_1_3_4_7_2","doi-asserted-by":"publisher","DOI":"10.1088\/1361-665X\/aab579"},{"key":"e_1_3_4_8_2","doi-asserted-by":"crossref","unstructured":"Okamura AM Smaby N Cutkosky MR. 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