ArticleProceedings of the National Academy of Sciences of the United States of America2022
Active entanglement enables stochastic, topological grasping.
Article in Proceedings of the National Academy of Sciences of the United States of America, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 27 papers.
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Who cites it
27 citing papers in PubMed, 114 citations in OpenAlex.
- Stochastic Entanglement of Deterministic Origami Tentacles For Robust Robotic Grasping.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Single twistable tendon-driven continuum robots.Nature communications · 2026Article
- Actively Induced Supercoiling Can Slow Down Plasmid Solutions by Trapping the Threading Entanglements.ACS nano · 2026Article
- Rotational 3D printing of active-passive filaments and lattices with programmable shape morphing.Proceedings of the National Academy of Sciences of the United States of America · 2026Article
- A parallel algorithm for the computation of the Jones polynomial.Proceedings of the National Academy of Sciences of the United States of America · 2026Article
- Embodying physical computing into soft robots.Nature communications · 2026Review
- Liquid metal universal grippers for gentle, adaptable, multiscale manipulation.Nature communications · 2026Article
- Multifunctional Fluidic Units for Emergent, Responsive Robotic Behaviors.Advanced materials (Deerfield Beach, Fla.) · 2026Article
- Loop closure grasping: Topological transformations enable strong, gentle, and versatile grasps.Science advances · 2025Article
- Millimeter-scale fluid-driven soft robots.National science review · 2025Article
- Fabrication of Soft Robotics by Additive Manufacturing: From Materials to Applications.Chemical reviews · 2025Review
- Giant activity-induced elasticity in entangled polymer solutions.Nature communications · 2025Article
- A fractal gripper with switchable mode for geometry adaptive manipulation.Scientific reports · 2025Article
- Encoding mechanical intelligence using ultraprogrammable joints.Science advances · 2025Article
- Shape morphing of soft robotics by pneumatic torsion strip braiding.Nature communications · 2025Article
- Soft robotic hand with tactile palm-finger coordination.Nature communications · 2025Article
- Entanglement transition in random rod packings.Proceedings of the National Academy of Sciences of the United States of America · 2025Article
- Second harmonic generation imaging reveals entanglement of collagen fibers in the elephant trunk skin dermis.Communications biology · 2025Article
- A fabrication strategy for millimeter-scale, self-sensing soft-rigid hybrid robots.Nature communications · 2024Article
- Powerful UAV manipulation via bioinspired self-adaptive soft self-contained gripper.Science advances · 2024Article
Corrections and comments
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Authors and funding
8 authors at 2 institutions in 2 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Grasping, in both biological and engineered mechanisms, can be highly sensitive to the gripper and object morphology, as well as perception and motion planning. Here, we circumvent the need for feedback or precise planning by using an array of fluidically actuated slender hollow elastomeric filaments to actively entangle with objects that vary in geometric and topological complexity. The resulting stochastic interactions enable a unique soft and conformable grasping strategy across a range of target objects that vary in size, weight, and shape. We experimentally evaluate the grasping performance of our strategy and use a computational framework for the collective mechanics of flexible filaments in contact with complex objects to explain our findings. Overall, our study highlights how active collective entanglement of a filament array via an uncontrolled, spatially distributed scheme provides options for soft, adaptable grasping.
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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.