Fixing Device for a Planar Object by Incorporating Jamming Transition Phenomenon and a Suction Unit

Figure 16

Compressive and shear load-displacement relationship graph of holding device: (a) displacement to downward force, (b) displacement to horizontal force on flat plate, (c) and (d) graph of displacement to downward and horizontal force on phantom. Solid line is a fitting line that shows the relationship between load and displacement when the device deforms in the elastic deformation range as a real solid object.

(a)

(b)

(c)

(d)