This article presents a novel robotic palm with a dual-layered structure designed to yield high surface conformity and controllable rigidity for enhanced grasping performance. It comprises a vacuum chamber for adjusting the stiffness of the palm via particle jamming and an air chamber for actively controlling the palm deformation. An auto-jamming control scheme that automatically solidifies the palm by sensing the internal pressure of the palm without any tactile sensors or visual feedback was also proposed. Given the design and control of the robotic palm, the performance of the dual-layered jamming mechanism was characterized in terms of shape adaptability and stiffness controllability. The contact surface areas increased by 180% compared with the single-layered robotic palm, and the adjustable stiffness was within a range of 0.20–2.53 N/mm for varying vacuum pressures. Moreover, the palm can act as a universal gripper for small objects, yielding a holding force of up to 13.9 N. The grasping performance of the palm in conjunction with robot fingers was evaluated for various objects for varying palm stiffness. The palm increases the grasping force by 2.0–3.1 times compared with flat skin. Multimodal grasping strategies for various objects were demonstrated by manipulating a robot arm.

中文翻译：

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使用双层粒子干扰机制的具有可调刚度的软机器人手掌

本文介绍了一种具有双层结构的新型机器人手掌，旨在产生高表面一致性和可控刚度，以提高抓握性能。它包括一个通过粒子干扰来调节手掌硬度的真空室和一个用于主动控制手掌变形的气室。还提出了一种无需任何触觉传感器或视觉反馈，通过感知手掌内部压力自动固化手掌的自动干扰控制方案。鉴于机器人手掌的设计和控制，双层干扰机构的性能在形状适应性和刚度可控性方面具有特征。与单层机器人手掌相比，接触表面积增加了180%，刚度可调范围为0.20-2。53 N/mm，适用于不同的真空压力。此外，手掌可以作为小物体的通用抓手，产生高达 13.9 N 的抓握力。 手掌与机器人手指结合的抓握性能针对不同手掌刚度的各种物体进行了评估。手掌比扁平皮肤增加2.0-3.1倍的抓握力。通过操纵机器人手臂展示了对各种物体的多模态抓取策略。