The term paper about the universal granular gripper can be read through here (Images and information without permission for display are blurred, removed or replaced by ‘?’.
This video displays the reliability test of a positive pressure universal gripper based on the jamming of granulate, referring to my current student research project “Construction, implementation and testing of a positive pressure universal gripper for robotic applications”, which is conducted at the University Heilbronn.
The following video shows an extract of the test, evaluating the gripper’s accuracy and precision. Despite of being unjammed by positive pressure, the gripper had to be massaged as well in order to grip the 15mm radius hemisphere. Note the fine markings on the hemisphere’s surface and the graph paper, indicating the orthogonal angles.