Universal Jamming Gripper: Experimental Analysis on Envelope and Granular Materials

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors

Comments for author File: Comments.pdf

Comments on the Quality of English Language

Minor errors. 

Author Response

Dear revisor, please see the attachment.

Thank you for your time.

Author Response File: Author Response.pdf

Reviewer 2 Report

Comments and Suggestions for Authors

Dear Editors and authors,

The manuscript “Universal Jamming Gripper: Experimental Analysis on Envelope and Granular Materials” presents a thorough optimization of the gripper for robotic grasping with solid experimental and theoretical works being conducted. After reviewing this manuscript, I would like to recommend this to be accepted for publication with only minor revisions. A few detailed comments are listed below:

    1. Figure 8: the author should also put legends on the figure to make this figure clearer. The explanation of two curves is not clear to me.

     2.     Line 295-298: In the fourth step, the vacuum valve activates to petrify the granular materials inside the gripper. I am wondering if the vacuum power also influences the lift capacity. A short discussion on this would help.

  3. Another aspect that the authors did not mention is the polydispersity of granular materials, which will affect the jamming behavior, hence will influence the ability of the gripper. I am wondering if the authors could add some discussions on this.

Author Response

Dear revisor, please see the attachment.

Thank you for your time.

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

Comments and Suggestions for Authors

Thank you for your answer. Everything is OK now.