{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,19]],"date-time":"2026-09-19T06:11:34Z","timestamp":1789798294286,"version":"4.0.1"},"reference-count":45,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2025,12,15]],"date-time":"2025-12-15T00:00:00Z","timestamp":1765756800000},"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":[[2026,8,1]]},"abstract":"<jats:p>In this work, we introduce the Jamming Adjustable PneuNet Actuator (JAPA), a novel soft robotic finger that enables both stiffness modulation and tunable bending behavior through a flexible hybrid jamming approach. This method combines the high stiffness gain of layer jamming and the adaptability of granular jamming. By adjusting the effective length of the paper-based layer jamming using a magnetically positioned sliding mechanism, JAPA can dynamically reshape its bending profile. Meanwhile, the granular jamming element distributed throughout the finger can provide adaptive stiffness reinforcement across all bending configurations. The combination of adjustable stiffness and reconfigurable bending profile substantially enhances JAPA\u2019s multidirectional force control and dexterity. To evaluate its performance, we conducted a series of experiments to assess JAPA\u2019s stiffness modulation, pull-off and output forces, multidirectional force control, and workspace. Experimental results demonstrate that JAPA can achieve a maximum stiffness gain of up to 3.55\u00d7, with adjustable stiffness distribution contributing to a workspace expansion exceeding 200% and a more than 300% improvement in multidirectional force modulation. To visualize its multidirectional force control ability, we used a single JAPA unit to operate a computer cursor via a TrackPoint, dragging the cursor in different directions. To further validate its manipulation capability, we constructed a four-unit JAPA gripper capable of in-hand object rotation and safe handling of diverse objects, including delicate and irregularly shaped items. The proposed soft finger design holds promise for applications in assistive robotics, adaptive grasping, and human-interactive devices, where both safety and functional versatility are critical.<\/jats:p>","DOI":"10.1177\/21695172251405996","type":"journal-article","created":{"date-parts":[[2025,12,24]],"date-time":"2025-12-24T10:12:06Z","timestamp":1766571126000},"page":"596-606","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":1,"title":["A Stiffness-Tunable Soft Actuator with Adjustable Jamming for Dexterous Manipulation"],"prefix":"10.1177","volume":"13","author":[{"given":"Shuoqi","family":"Wang","sequence":"first","affiliation":[{"name":"Marine Robotics Lab, Department of Mechanical Engineering, University of Wisconsin, Madison, Madison, Wisconsin, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Wei","family":"Wang","sequence":"additional","affiliation":[{"name":"Marine Robotics Lab, Department of Mechanical Engineering, University of Wisconsin, Madison, Madison, Wisconsin, USA."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2025,12,15]]},"reference":[{"key":"e_1_3_3_2_2","doi-asserted-by":"publisher","DOI":"10.1002\/adem.201700016"},{"key":"e_1_3_3_3_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-016-0462-3"},{"key":"e_1_3_3_4_2","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_3_3_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.08.014"},{"key":"e_1_3_3_6_2","doi-asserted-by":"publisher","DOI":"10.1002\/adma.201707035"},{"key":"e_1_3_3_7_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11431-021-1944-y"},{"key":"e_1_3_3_8_2","doi-asserted-by":"publisher","DOI":"10.1038\/s41583-021-00528-7"},{"key":"e_1_3_3_9_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.adu2018"},{"key":"e_1_3_3_10_2","doi-asserted-by":"publisher","DOI":"10.1146\/annurev-control-062322-100607"},{"key":"e_1_3_3_11_2","doi-asserted-by":"publisher","DOI":"10.3390\/act9040104"},{"key":"e_1_3_3_12_2","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1838"},{"key":"e_1_3_3_13_2","doi-asserted-by":"publisher","unstructured":"Sakuma T Von Drigalski F Ding M et al. A universal gripper using optical sensing to acquire tactile information and membrane deformation. In: 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE: Madrid; 2018; pp. 1\u20139; doi: 10.1109\/IROS.2018.8593697","DOI":"10.1109\/IROS.2018.8593697"},{"key":"e_1_3_3_14_2","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.1003250107"},{"key":"e_1_3_3_15_2","doi-asserted-by":"publisher","unstructured":"Lathrop E Adibnazari I Gravish N et al. Shear strengthened granular jamming feet for improved performance over natural terrain. In: 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft). IEEE: New Haven CT USA; 2020; pp. 388\u2013393; doi: 10.1109\/RoboSoft48309.2020.9116020","DOI":"10.1109\/RoboSoft48309.2020.9116020"},{"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","unstructured":"Howard D O\u2019Connor J Brett J et al. Shape size and fabrication effects in 3d printed granular jamming grippers. In: 2021 IEEE 4th International Conference on Soft Robotics (RoboSoft). IEEE: New Haven CT USA; 2021; pp. 458\u2013464; doi: 10.1109\/RoboSoft51838.2021.9479438","DOI":"10.1109\/RoboSoft51838.2021.9479438"},{"key":"e_1_3_3_18_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10035-024-01475-7"},{"key":"e_1_3_3_19_2","doi-asserted-by":"publisher","unstructured":"Howard D O\u2019Connor J Letchford J et al. A comprehensive dataset of grains for granular jamming in soft robotics: Grip strength and shock absorption. In: 2023 IEEE International Conference on Soft Robotics (RoboSoft). IEEE: Singapore Singapore; 2023; pp. 1\u20138; doi: 10.1109\/RoboSoft55895.2023.10122060","DOI":"10.1109\/RoboSoft55895.2023.10122060"},{"key":"e_1_3_3_20_2","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2024.2348544"},{"key":"e_1_3_3_21_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3183533"},{"key":"e_1_3_3_22_2","doi-asserted-by":"publisher","unstructured":"Cheng NG Lobovsky MB Keating SJ et al. Design and analysis of a robust low-cost highly articulated manipulator enabled by jamming of granular media. In: 2012 IEEE International Conference on Robotics and Automation. IEEE: St Paul MN USA; 2012; pp. 4328\u20134333; doi: 10.1109\/ICRA.2012.6225373","DOI":"10.1109\/ICRA.2012.6225373"},{"key":"e_1_3_3_23_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3058914"},{"key":"e_1_3_3_24_2","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2022.3201305"},{"key":"e_1_3_3_25_2","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2945525"},{"key":"e_1_3_3_26_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3171917"},{"key":"e_1_3_3_27_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2019.0034"},{"key":"e_1_3_3_28_2","doi-asserted-by":"publisher","unstructured":"Pinskier J Brett J Hanson L et al. Jammkle: Fibre jamming 3D printed multi-material tendons and their application in a robotic ankle. In: 2022 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE: Kyoto Japan; 2022; pp. 8507\u20138514; doi: 10.1109\/IROS47612.2022.9982171","DOI":"10.1109\/IROS47612.2022.9982171"},{"key":"e_1_3_3_29_2","doi-asserted-by":"publisher","unstructured":"Qian C Liu T Wu L. Effects of fiber number and density on fiber jamming: Towards follow-the-leader deployment of a continuum robot. In: 2024 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE: Abu Dhabi United Arab Emirates; 2024; pp. 9235\u20139240; doi: 10.1109\/IROS58592.2024.10802851","DOI":"10.1109\/IROS58592.2024.10802851"},{"key":"e_1_3_3_30_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2021.0218"},{"key":"e_1_3_3_31_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2019.0182"},{"key":"e_1_3_3_32_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijmecsci.2023.108325"},{"key":"e_1_3_3_33_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11340-024-01031-7"},{"key":"e_1_3_3_34_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.4053857"},{"key":"e_1_3_3_35_2","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2908493"},{"key":"e_1_3_3_36_2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2256313"},{"key":"e_1_3_3_37_2","doi-asserted-by":"crossref","unstructured":"Wei M Xu F Xu C et al. Design and experiment of soft grasping robot with variable stiffness based on jamming principles of layer and particle. In: 2023 42nd Chinese Control Conference (CCC). IEEE: Tianjin China; 2023; pp. 4524\u20134529; doi: 10.23919\/CCC58697.2023.10240386","DOI":"10.23919\/CCC58697.2023.10240386"},{"key":"e_1_3_3_38_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2018.0005"},{"key":"e_1_3_3_39_2","doi-asserted-by":"publisher","DOI":"10.3390\/jmmp8020079"},{"key":"e_1_3_3_40_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2019.0093"},{"key":"e_1_3_3_41_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2021.0025"},{"key":"e_1_3_3_42_2","doi-asserted-by":"publisher","DOI":"10.1126\/sciadv.abh2073"},{"key":"e_1_3_3_43_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2016.0081"},{"key":"e_1_3_3_44_2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2012.2200790"},{"key":"e_1_3_3_45_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574721001144"},{"key":"e_1_3_3_46_2","doi-asserted-by":"publisher","unstructured":"Wall V Deimel R Brock O. Selective stiffening of soft actuators based on jamming. In: 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE: Seattle WA USA; 2015; pp. 252\u2013257; doi: 10.1109\/ICRA.2015.7139008","DOI":"10.1109\/ICRA.2015.7139008"}],"container-title":["Soft Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/21695172251405996","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/21695172251405996","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/21695172251405996","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,9,19]],"date-time":"2026-09-19T05:34:51Z","timestamp":1789796091000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/21695172251405996"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12,15]]},"references-count":45,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2026,8,1]]}},"alternative-id":["10.1177\/21695172251405996"],"URL":"https:\/\/doi.org\/10.1177\/21695172251405996","relation":{},"ISSN":["2169-5172","2169-5180"],"issn-type":[{"value":"2169-5172","type":"print"},{"value":"2169-5180","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,12,15]]}}}