Design, Control, and Applications of Granular Jamming Grippers in Soft Robotics

Granular jamming grippers have emerged as a versatile solution in soft robotics due to their ability to manipulate objects of various shapes and sizes, earning them the label of “universal grippers”. They are composed of granular material confined within an elastic membrane that conforms to the object like a fluid and solidifies upon vacuum application, enabling a firm grip through friction and grain interlocking. This work provides a systematic review of the state of the art, addressing their physical principles, the influence of grain and membrane properties, performance characterization methods, and applications across diverse fields. Additionally, the main control variables of these grippers closely related to state variables used in control systems are discussed, along with the current knowledge gaps. Finally, five potential directions for future research are proposed.