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Granular and layer jamming techniques: (A) layer jamming employed in a stiffening sleeve for use with endoscopic devices,21 (B) the layer jamming principle, variable stiffness can be achieved by applying a vacuum to a sealed chamber,72 (C) a passive particle jamming method to simultaneously actuate and stiffen a device,35 (D) layer jamming in a cable actuated finger used to alter its structure online.72 Figure panels were reprinted with permission from their respective references.
