Abstract:
A method and device for manipulating an object is provided. In an exemplary embodiment, a gripping device configured to grasp the object includes a housing, a jamming material inside the housing, a first actuator to actuate the jamming material, a first pressure activation device disposed on a first outer portion of the housing and configured to exert a constricting force on the first outer portion of the housing, and a second actuator to actuate the first pressure activation device. After the end effector is pressed against the object, the second actuator actuates the first pressure activation device to exert an inward force on the first outer portion of the housing and the first actuator actuates the jamming material to grasp the object.

Description:
INTRODUCTION 
     The present teachings are a continuation-in-part of U.S. Non-Provisional patent application Ser. No. 12/553,971, filed Sep. 3, 2009, the entire content of which is incorporated herein by reference. This application also claims priority to U.S. Provisional Patent Application No. 61/371,344, filed Aug. 6, 2010, titled Method and Device for Manipulating an Object, the disclosure of which is incorporated herein by reference. 
    
    
     The present teachings relate to a gripping device, for example for use as a robotic end effector, including a pressure activation device on an outer portion of a housing and configured to exert a constricting force on the outer portion of the housing. 
     BACKGROUND 
     Application Ser. No. 12/553,971, filed Sep. 3, 2009 (hereinafter “the &#39;971 application”), discloses a method and device for manipulating an object with a remote vehicle having an end effector attached to a manipulator arm. The end effector comprises a jamming material in a housing. The jamming material in the &#39;971 patent is also referred to as a phase-change material, and “jamming,” as used herein, includes such phase change materials. The method comprises pressing the end effector housing to the object, activating the jamming material to grasp the object, and moving the manipulator arm to manipulate the object. 
     In accordance with various embodiments, the end effector includes a substantially air-impermeable housing that is filled with a jamming material. The composition of the housing can vary depending on the desired manipulation traits, the material contained in the housing, the size of the housing, and economic considerations. The material comprising the housing(s) should be at least minimally elastic or flexible and can have some degree of friction on its surface to aid in object manipulation. The housing(s) should also have a strength (e.g., tear resistance) that is sufficient for objects it is intended to manipulate. For example, a more tear resistant material is desirable when objects to be manipulated may have sharp edges or points, whereas tear resistance can be less critical when objects to be manipulated are smooth. 
     The housing may include, for example, a balloon such as a latex balloon, a platinum-cure or tin-cure silicone-based rubber, a plastic bag such as a zip lock bag, or a Kevlar composite. Kevlar can provide strength against puncturing and can be combined with a more elastic material to attain a desired flexibility for the housing. Platinum-cure or tin-cure RTV (room temperature vulcanizing) silicone-based rubbers can be desirable because they are easily molded into custom shapes. The housing can surround the jamming material and an activation device can be in communication with the jamming material. The activation device can be located inside or outside of a housing. 
     When end effector housings such as those disclosed in the &#39;971 application are pressed against an object, the housings may be unable to surround the object to the extent necessary to securely grasp the object. Thus, existing housings may not be able to properly grasp an object to sustain or generate the pressure required to grasp the object for manipulation. 
     SUMMARY 
     Exemplary embodiments of the present teachings relate to a gripping device, such as for use as an end effector configured for attachment to a manipulator arm to manipulate an object. 
     The present teachings provide a gripping device configured to grasp an object, the gripping device comprising a housing, a jamming material inside the housing, a first actuator to actuate the jamming material, a first pressure activation device disposed on a first outer portion of the housing and configured to exert a constricting force on the first outer portion of the housing, and a second actuator to actuate the first pressure activation device. After the gripping device is pressed against the object, the second actuator actuates the first pressure activation device to exert an inward force on the first outer portion of the housing and the first actuator actuates the jamming material to grasp the object. 
     The present teachings also provide an end effector configured to grasp an object, the end effector comprising a housing, a jamming material inside the housing, a first actuator to actuate the jamming material, a first pressure activation device disposed on a first outer portion of the housing and configured to exert a constricting force on the first outer portion of the housing, and a second actuator to actuate the first pressure activation device. After the end effector is pressed against the object, the second actuator actuates the first pressure activation device to exert an inward force on the first outer portion of the housing and the first actuator actuates the jamming material to grasp the object. 
     The present teachings further provide a method for using a gripping device to grasp an object, the gripping device comprising a housing containing a jamming material and at least one pressure activation device, the method comprising directing the gripping device toward the object, pressing the gripping device onto the object, activating the at least one pressure activation device, and activating the jamming material in the housing. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIGS. 1A-1E  include schematic diagrams of an exemplary embodiment of the present teachings, wherein a gripping device, shown as an end effector including a housing and pressure application device picks up a target object. 
         FIG. 1F  includes a schematic diagram of another exemplary embodiment of the present teachings, wherein a gripping device, shown as an end effector including more than one housing and a pressure application device, picks up a target object. 
         FIGS. 2A and 2B  include schematic diagrams of an exemplary embodiment of a gripping device of the present teachings, wherein a pressure application device comprises a biased belt and an inflatable toroidal housing. 
         FIGS. 3A and 3B  include schematic diagrams of another exemplary embodiment of a gripping device of the present teachings, wherein a pressure application device comprises a jamming belt and an inflatable toroidal housing. 
         FIGS. 4A-4D  include schematic diagrams of another exemplary embodiment of a gripping device of the present teachings, wherein a pressure application device comprises a jamming region combined with spherical housings. 
         FIGS. 5A-5D  include schematic diagrams of an exemplary embodiment of a gripping device of the present teachings, wherein a pressure application device comprises a McKibben actuator. 
         FIGS. 6A-6E  include schematic diagrams of another exemplary embodiment of a gripping device of the present teachings, wherein an end effector including a housing and multiple pressure application devices picks up a target object. 
         FIG. 7  is a flow chart illustrating an exemplary jamming process in accordance with an exemplary embodiment of the present teachings; and 
         FIG. 8  is a flow chart illustrating an exemplary unjamming process in accordance with an exemplary embodiment of the present teachings. 
     
    
    
     DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     Reference will now be made in detail to the present teachings, exemplary embodiments of which are illustrated in the accompanying drawings 
       FIGS. 1A-1E  include a schematic diagram of a first exemplary embodiment of a gripper device in accordance with the present teachings that can be used as an end effector for a remote vehicle manipulator arm, wherein the gripper device includes a one-piece housing  100  and a pressure application device  101  for applying pressure to a portion of the housing. The end effector may be located, for example, at a distal end of the remote vehicle manipulator arm, and may pick up an object O as shown in  FIGS. 1A-1E . The remote vehicle, pneumatics, motors, and electronics are omitted for simplicity. 
     In  FIG. 1A , the housing  100  is driven toward the object O to make contact with the object. In  FIG. 1B , the housing  100  has made contact with the object O and is pressed to the object O. The housing  100  deforms around the object O because it is not activated. The pressure application device is preferably not activated while the housing  100  is initially pressed to deform around the object O in  FIG. 1B . The pressure activation device  101  and the material within the housing  100  are activated after the housing  100  has been pressed to the object O, and then the object O can be manipulated.  FIGS. 1A-1E  are discussed in further detail below. 
     The pressure application device  101  may include, but is not limited to, a biased belt that can be combined with an inflatable toroidal housing, a jamming belt that can be combined with an inflatable toroidal housing, a jamming region that can be combined with spherical housings, and a McKibben belt. Different types of belts can be combined with different types of housings as desired for a given application. Each of the above embodiments of the pressure application device is described in more detail below with respect to  FIGS. 2A ,  2 B,  3 A,  3 B,  4 A- 4 D, and  5 A- 5 D. 
       FIG. 1F  includes a schematic diagram of another exemplary embodiment of the present teachings, wherein a gripping device, shown as an end effector including more than one housing and a pressure application device, picks up a target object. The gripping device embodiment of  FIG. 1F  includes a central housing  150  containing a first phase change material, surrounded by a first pressure activation device embodied in a circumferential housing  152  containing a second phase change material and a second pressure activation device  154  located, for example, between the central housing  150  and the circumferential housing  152 . The central and circumferential housings  150 ,  152  can be made of the same or different materials, and can be filed with the same or difference phase change materials. The second pressure activation device can comprise, for example, a number of embodiments as set forth herein. 
     As shown in the sequence of  FIG. 1F , from left to right, the housings  150 ,  152  are driven toward the object O to make contact with the object. The central housing  150  makes contact with the object O and is pressed to the object. The central housing  150  deforms around the object O because the phase-change material therein is not activated. The circumferential housing  152  in this embodiment acts as a first pressure application device, and is preferably not activated while the central housing  150  is initially pressed to deform around the object O. 
     Thereafter, as shown, the phase-change material in the circumferential housing  152  is activated, the second pressure activation device  154  is activated to press material in the central housing  150  downward and inward around the object O, and then the phase change material in the central housing  150  is activated. 
     In accordance with certain embodiments of the present teachings, an embodiment of the pressure activation device includes a biased belt combined with (e.g., surrounding) an inflatable toroidal housing as shown in  FIG. 2A . The biased belt can comprise, for example, a flexible silicone belt  202  placed around the equator of a housing  201 , and a toroidal housing  204  placed between the belt  202  and the housing  201 . The belt  202  can include an embedded cloth  203 , for example a nylon mesh, to control outward expansion of the belt while maintaining the flexibility of the silicone. 
       FIG. 2B  shows application of pressure on the housing  201  according to the embodiment of  FIG. 2A . Pressure on the housing  201  can be accomplished by activating the biased belt after the housing  201  has been pressed on an object (not shown). The biased belt can be activated by inflating the toroidal housing  204  to press the housing  201  inward, as shown by arrows  205 . The flexible silicone belt  202  directs forces from the inflated toroidal housing  204  inward by controlling outward expansion of the toroidal housing  204 . The material in the housing  201  can be phase change material, and that material can be jammed to grasp the object. 
     In accordance with certain embodiments, a pressure activation device comprises a jamming belt combined with an inflatable toroidal housing, as shown in  FIG. 3A . The pressure activation device can comprise a flexible and elastic belt  302  placed around the equator of a housing  301 , and a toroidal housing  304  placed between the belt  302  and the housing  301 . The flexible and elastic belt  302  and toroidal housing  304  can allow outward expansion while the housing  301  is being pressed on an object (not shown), but the toroidal housing  304  can be jammed (activated) to prevent further expansion after the housing  301  has been pressed on the object. In addition, jamming the material in the toroidal housing can additionally force material in the housing to better surround the object to be grasped. The material in the housing  301  can be phase change material, and that material can be jammed to grasp the object. 
     The jamming belt  302  can comprise a jamming material  303 . A housing of the jamming belt  302  can comprise a flexible and expandable material such as, for example, rubber or latex. The jamming material  303  can comprise, for example, any jamming material disclosed in the &#39;971 application. Jamming, as recited herein, such as of a housing or a belt, can comprise, for example, any method for jamming the housing disclosed in the &#39;971 application. The type of jamming that occurs can be dictated by the jamming material being utilized. The toroidal housing  304  can comprise flexible and expandable material such as, for example, rubber or latex, and may be inflated with air, or similar substance, to a pressure of, for example, 15 psi. 
       FIG. 3B  shows application of pressure on the housing  301  according to the embodiment of  FIG. 3A . Pressure on the housing  301  can be accomplished by activating the jamming belt  302  after the housing  301  has been pressed on an object (not shown). The jamming belt can be activated by inflating the toroidal housing  304  to press the housing  301  inward, as shown by arrows  305 . The jamming belt  302 , when activated, can direct forces from the inflated toroidal housing  304  inward by controlling outward expansion of the toroidal housing  304 . The material in the housing  301  can be phase change material, and that material can be jammed to grasp the object. 
     In accordance with certain embodiments of the present teachings, a jamming region can comprise one or more expandable housings, such as spherical housings, around a central housing, as shown in  FIG. 4A . In particular, spherical inflatable housings  404  may be embedded inside jamming material of a jamming region  403  of a belt  402 , for example at evenly-spaced locations around the jamming region  403 . The expandable housings  404  can extend above and/or below an equator of the housing  401 . The jamming material of the jamming region  403  can comprise, for example, any jamming material capable of being used in the housing disclosed in the &#39;971 application. Jamming of the belt  402  can comprise, for example and not as limitation, any method for jamming the jamming material disclosed in the &#39;971 application. The spherical inflatable housings  404  may comprise flexible and expandable material such as, for example, rubber or latex, and may be inflated with air, or a similar substance, to a pressure of, for example, 15 psi. 
       FIG. 4B  shows application of pressure on the housing  401  according to the embodiment of  FIG. 4A . Pressure on the housing  401  can be accomplished by activating the belt  402  after the housing  401  has been pressed on an object (not shown). The belt  402  can be activated by inflating the housings  404  to exert a pressure inward, as shown by arrows  405 , and then jamming the jamming region  403  to exert additional pressure inward. 
       FIGS. 4C and 4D  show a top view of an exemplary application of pressure by the jamming belt  402  on the housing  401 .  FIG. 4C  shows a top view of the embodiment of  FIGS. 4A and 4B , before application of pressure on the central housing  401  via inflation of the small spherical housings  404 .  FIG. 4D  shows application of pressure on the central housing  401  by inflating the small spherical housings  404  to press the central housing  401  inward, the direction of pressure exerted by the small spherical housings being represented by arrows  405 . One skilled in the art will understand that the size, shape, and manner of inflation of the housings  404  can vary in accordance with the present teachings. Indeed, one skilled in the art will understand that the size, shape, and manner of inflation of the central housing and belt can vary as well. 
     In accordance with certain embodiments of the present teachings, a ring-shape McKibben actuator  502  may be placed surrounding a housing  501 , as shown in  FIGS. 5A-5D . A side view of an exemplary McKibben actuator  502  is shown in  FIG. 5A , and a cross sectional view thereof is shown in  FIG. 5D , illustrating an internal bladder  510  surrounded by an external braided mesh shell  520 , with flexible yet non-extensible threads. The braided mesh shell  520  is attached at either end to fittings  530 . When the internal bladder  510  is pressurized, a high pressure gas (or liquid) pushes against its inner surface and against the braided mesh shell  520 , tending to increase its volume. Due to the non-extensibility of the threads in the braided mesh shell  520 , the braided mesh shell  520 , and thus the entire actuator  502 , shortens according to its volume increase and/or produces tension if it is coupled to a mechanical load. Thus, a McKibben actuator converts pneumatic (or hydraulic) energy into mechanical energy by transferring the pressure applied on the inner surface of its bladder  510  into a shortening tension. 
       FIG. 5B  schematically illustrates a McKibben actuator  502  surrounding a central housing  501  in accordance with an embodiment of the present teachings. The McKibben actuator  502  can be activates as described above to apply pressure to the housing  501  once the housing  501  has been pressed onto an object to be grasped (not shown). Activation of the McKibben actuator  502  presses the housing  501  inward, as shown by arrows  503 . 
       FIGS. 1A-1E  illustrate an embodiment of a gripping device, illustrated as a remote vehicle end effector, in accordance with the present teachings as it grasps and manipulates an object. In  FIG. 1A , the housing  100  and pressure application device  101  are pliable (e.g., for embodiments realizing jamming via volume change, the housing may be at atmospheric pressure when fully unjammed) and therefore can wrap around at least a portion of an object O to be grasped. In  FIG. 1B , the housing  100  and pressure application device  101  have been moved down towards the object O and pressed over and around the object O, therefore surrounding at least a portion of the object O to be grasped. The housing  100  and pressure application device  101  have not been actuated to grasp the object O. 
     In  FIG. 1C , the pressure application device  101  is actuated to generate pressure inward at a location close to the equator of the bag. While location of the pressure application device  101  is preferable at or around the housing equator, one skilled in the art will appreciate that the pressure application device may be located at a variety of positions with respect to the housing depending on the gripper device configuration and intended use. The pressure applied by pressure application device  101  causes displacement of the (still unjammed) jamming material inside the housing  100  in the direction of arrows  102 . In certain embodiments of the present teachings, the displacement of jamming material caused by pressure application device  101  displaces jamming material towards the bottom of object O and pushes a portion of housing  100  under portions of object O, as shown in region  103  of  FIG. 1C . 
     In  FIG. 1D , the housing  100  is actuated and becomes rigid, for example by a volume change (e.g., removing fluid from the housing via a vacuum), and grips the object O by application of forces applied by the rigid housing. Housing  100  and pressure application device  101  provide forces having a magnitude and direction sufficient to lift and manipulate the object O as illustrated in  FIG. 1E . An end effector to which the housing is attached, and thus the gripped object, can then be moved by the remote vehicle manipulator arm. 
     The gripped object may be released, for example, by allowing the material within the housing to unjam (e.g., for materials such as coffee grounds that phase change via volume change, by allowing the interior of the housing to return to atmospheric pressure) and by releasing pressure applied by pressure application device  101 . In certain embodiments, pressure applied by the pressure application device  101  can be removed first, and then the housing  100  can be unjammed, or vice versa. One skilled in the art will understand that, although the pressure application device  101  is depicted as a single belt/band  101  in  FIGS. 1A-1E , it can comprise a number of embodiments having different configurations (e.g., discrete housings), for example as described above with respect to  FIGS. 2A-5D . 
       FIGS. 6A-6E  illustrate another embodiment of a gripper device, depicted herein as a remote vehicle end effector, as it grasps and manipulates an object. As shown, the gripper device can comprise a housing  600 , a first pressure application device  601  for applying pressure to a portion of the housing, and a second pressure application device  602  for applying pressure to another portion of the housing  600 . The housing  600  can be located, for example, on a distal end of a remote vehicle manipulator arm. The remote vehicle, pneumatics, motors, and electronics are omitted for simplicity. Each of pressure application devices  601  and  602  may be similar to previously-described pressure application devices described hereinabove, and thus, their description is omitted here. 
     In  FIG. 6A , the housing  600 , the first pressure application device  601 , and the second pressure application device  602  are unactuated and therefore pliable (e.g., for embodiments realizing jamming via volume change, the housing may be at atmospheric pressure when fully unjammed) and therefore can wrap around at least a portion of an object O to be grasped. In  FIG. 6B , the housing  600 , the first pressure application device  601 , and the second pressure application device  602  have been moved down towards the object O and pressed over and around the object O, therefore surrounding a portion of the object O to be grasped. The housing  600 , the first pressure application device  601 , and the second pressure application device  602  have not been actuated to grasp the object. 
     In  FIG. 6C , the first pressure application device  601  and the second pressure application device  602  are actuated, simultaneously or successively, to generate pressure inward along portions of the bag. The pressure applied by devices  601  and  602  can cause displacement of the (still unjammed) jamming material inside the housing  600  in the direction of arrows  603 . In certain embodiments of the present teachings, the displacement of jamming material caused by pressure application devices  601  and  602  may displace jamming material towards the bottom of object O and push a portion of housing  600  under portions of object O, as shown in region  604  of  FIG. 6C . 
     In  FIG. 6D , the housing  600  is actuated and becomes rigid, for example by a volume change (e.g., removing fluid from the housing via a vacuum) and grips the object O by application of forces applied by the rigid housing. In certain embodiments, forces applied by the pressure application devices  601  and  602  can be applied sequentially, for example by activating the first pressure application device  601  before activating the second pressure activation device  602 , or vice versa. An end effector to which the housing is attached, and thus the gripped object, can then be moved by the remote vehicle manipulator arm. 
     The gripped object may be released, for example, by allowing the material within the housing to unjam (e.g., for materials such as coffee grounds that phase change via volume change, by allowing the interior of the housing to return to atmospheric pressure) and by releasing pressure applied by pressure application devices  601  and  602 . In certain embodiments, forces applied by the pressure application devices  601 ,  602  can be removed first, and then the housing  600  can be unjammed, or vice versa. Further, forces applied by the pressure application devices can be removed simultaneously or sequentially, for example by deactivating the second pressure application device  602  before deactivating the first pressure activation device  601 , or vice versa. One skilled in the art will understand that, although the first and second pressure application devices  601 ,  602  are drawn as single bands in  FIGS. 6A-6E , they can comprise a number of embodiments having different configurations (e.g., discrete housings) as described hereinabove. Further, the first and second pressure application devices  601 ,  602  need not have the same configuration or pressure application ability. They may be different sizes or different types, as would be determined based on certain design and economic considerations. 
       FIGS. 7 and 8  are flow charts illustrating an exemplary jamming process and an exemplary unjamming process, respectively, in accordance with the present teachings. One skilled in the art will understand that other jamming and unjamming processes can be employed in accordance with the present teachings. The one or more pressure application devices to be used in this exemplary method can include, but are not limited to, one of the pressure application devices discussed hereinabove. These exemplary pressure application devices have been explained in detail with respect to  FIGS. 2A-5D , and thus, their description is omitted here. For simplicity, the exemplary embodiment will be explained as including a biased belt combined with an inflatable toroidal housing. 
     In various embodiments of the present teachings, the jamming or other phase change material within the housing may include coffee grounds or another material that exhibits a solid-like behavior upon evacuation of air or another fluid with which it is combined. Jamming can be initiated with a command received, for example, by the remote vehicle controller from, for example, an operator control unit. Transmission, receipt, and implementation of the command can be accomplished in a manner similar to transmission, receipt, and implementation of other remote vehicle teleoperation commands. 
     With respect to  FIG. 7 , upon receipt of a belt application command ( 701 ), an air compressor is activated ( 702 ) to inflate the toroidal housing, causing pressure on the housing to displace some of the jamming material (see  FIGS. 1C and 6C  and associated disclosure for details with respect to the displacing of the jamming material). The air compressor remains activated until the pressure in the toroidal housing reaches a predetermined level ( 703 ; predetermined level can be, for example, &gt;=15 psi). When the pressure sensor indicates that the pressure in the toroidal housing is greater than or equal to the predetermined level, the air compressor can be turned off ( 704 ). The toroidal housing pressure is maintained, for example, by closing a valve connecting the air compressor to the toroidal housing. In certain embodiments of the present teachings, reaching the predetermined level of pressure in the toroidal housing can be “confirmed” to the operator by sending a suitable indication to the operator ( 705 ). Confirmation can be sent to the operator via, for example, a signal to the operator control unit that is communicated visually, haptically, via audio, or any combination thereof. 
     Upon receipt of the pressure confirmation command, the operator or an automated feature of the control system may transmit a “jam housing” command ( 706 ). Jamming of the housing can be performed, for example, by activating a vacuum pump ( 707 ) while the vacuum level in the housing is less than a predetermined level ( 708 ; predetermined level can be, for example, &gt;=25 in·Hg). This is because, if the vacuum level in the housing is greater than or equal to 25 in·Hg, the housing already has the desired level of vacuum for this embodiment. 
     Pressure in the housing can be measured, for example, by a second pressure sensor within or otherwise connected to the housing. When the second pressure sensor indicates that the pressure in the housing is greater than or equal to the predetermined level (at  708 ) the vacuum pump can be turned off ( 709 ). Pressure in the housing can be maintained, for example, by closing a valve connecting the vacuum pump with the housing to retain the desired pressure in the housing. In certain embodiments of the present teachings, jamming in the housing can be “confirmed” to the user when a desired pressure in the housing (e.g., 25 in·Hg) is reached by sending a suitable indication to the user ( 710 ). Confirmation can be sent to the operator via, for example, a signal to the operator control unit that is communicated visually, haptically, via audio, or any combination thereof. 
     While the command to activate jamming of the housing is preferably sent after inflation of the toroidal housing is confirmed, the command to activate jamming of the housing may alternatively be sent at the same time that the belt pressure application command is sent, or at a predetermined time thereafter. If more than one pressure activation device is provided, the commands to activate the pressure activation devices can be sent at the same time or can be staggered. Commands can be staggered to be transmitted within a predetermined period of time or a second pressure activation device can be actuated after activation of the first pressure activation device is complete (i.e., when a desired pressure has been attained). 
     Although the exemplary embodiment depicted in  FIG. 7  discloses grasping an object (after pressing the end effector to the object) by activating the pressure application device(s) before activating the housing, the present teachings are not so limited. For example, the at least one pressure application device may be activated after activating the housing, or both the at least one pressure application device and the housing may be activated simultaneously. 
     With respect to  FIG. 8 , unjamming is initiated when an “unjam housing” command ( 801 ) is received by the remote vehicle controller from, for example, an operator control unit. Transmission, receipt, and implementation of the unjam command can be accomplished in a manner similar to transmission, receipt, and implementation of other remote vehicle teleoperation commands. In the exemplary embodiment of  FIG. 8 , the vacuum pump or a valve can be used to cause unjamming in the housing (not shown). 
     Upon receipt of the unjam command, unjamming is performed by, for example, opening a valve connecting the housing with a low pressure vent to allow an exchange of air or other fluid with the housing, thereby causing the housing to return to an unjammed state (for example atmospheric pressure when coffee grounds are used as a jamming or other phase change material). A low pressure vent can provide controlled access to the external environment or another non-vacuum environment. In certain embodiments (not illustrated in the flowcharts of  FIGS. 7 and 8 ), the vacuum pump can be run in reverse to pull fluid from the housing (with the low pressure vent closed or opened, but preferably closed), allowing the housing to become pliable more quickly. 
     In the exemplary embodiment of  FIG. 8 , when the vacuum level in the housing is, for example, less than or equal to 5 in·Hg, unjamming of the housing can be confirmed ( 803 ). The valve leading to the low pressure vent need not, however, be closed upon confirmation of unjamming. Unjamming in the housing may be “confirmed” when a desired pressure in the housing (e.g., 5 in·Hg) is indicated by the pressure sensor. Confirmation may be sent to the operator via a signal to the operator control unit ( 803 ). 
     Upon confirmation of housing unjamming ( 803 ), the operator or an automated feature of the control system can send a command ( 804 ) to release the pressure applied by the pressure application device(s). Transmission, receipt, and implementation of the command can be accomplished in a manner similar to transmission, receipt, and implementation of other remote vehicle teleoperation commands. In certain embodiments of the present teachings, the at least one pressure application device only releases pressure if a pressure level measured by a pressure sensor (for example, a pressure sensor at the compressor or at the pressure application device) is more than a predetermined desired level ( 805 ). When the pressure sensor indicates that the pressure is less than or equal to the predetermined desired level, confirmation can be sent to the operator via a signal to the operator control unit ( 806 ). 
     Although the exemplary embodiment depicted in  FIG. 8  discloses releasing an object by deactivating the housing before deactivating the at least one pressure application device, the present teachings are not so limited. For example, the at least one pressure application device can be deactivated before the housing, or both the at least one pressure application device and the housing may be deactivated simultaneously. Furthermore, in an embodiment including a plurality of pressure application devices, the plurality of pressure application devices may be deactivated sequentially or simultaneously. 
     The present teachings also contemplate a controller, and utilization thereof, for controlling actuation of the housing and/or the pressure application devices to be used as an end effector of a remote vehicle manipulator arm, for example to manipulate an object. In certain embodiments of the present teachings, the controller can facilitate more accurate control of the pressure application devices, and providing haptic feedback (e.g., proportional haptic feedback including a vibration felt by the operator) when the housing touches the object. The controller can also provide a second haptic feedback indicative of the end effector applying a force sufficient to grasp and lift the object. The second feedback can comprise, for example, physical feedback that can be understood by the operator to indicate that the housing and pressure application device(s) have sufficiently grasped an object. The second feedback can include, for example, an audible indicator or a haptic feedback such as a different vibration sensation, or constriction of the controllers hand, wrist, or finger in a manner that suggests the grasping of the object. 
     Other embodiments of the present teachings will be apparent to those skilled in the art from consideration of the specification and practice of the present teachings disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the present teachings being indicated by the following claims. For example, although the exemplary embodiments described above depict a round housing, the present teachings are not so limited. The housing, for example, may have different shapes, or may comprise multiple housings, without departing from the spirit of the present teachings.