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Granular jamming has been identified as a fundamental mechanism for theoperation of robotic grippers. In this work, we show, that soft particles likeexpanded polystyrene beads lead to significantly larger gripping forces incomparison to rigid particles. In contradiction to naive expectation, thecombination of jamming and elasticity gives rise to very different propertiesof the jammed phase, compared to hard-particle systems. This may be of interestalso beyond the application in robotic grippers.

Soft particles reinforce robotic grippers: Robotic grippers based on granular jamming of soft particles