Patent ID: 8548626

Claim:
A gripping device configured to grasp an object, the gripping device comprising: a housing comprising: a substantially round and flexible container; and a point of attachment on an outer portion of the housing being in a plane that is substantially perpendicular to a line extending from the point of attachment toward a center of the housing; a jamming material inside the housing; a first actuator to actuate the jamming material; a pressure activation device disposed on the outer portion of the housing and configured to exert a constricting force on the outer portion of the housing, the pressure activation device comprising at least one of a Mckibben actuator, a jamming belt, an inflatable biased belt, or a jamming belt and an inflatable toroidal housing; and a second actuator to actuate the pressure activation device; wherein, after the gripping device is pressed against the object, the second actuator actuates the pressure activation device to exert the constricting force on the outer portion of the housing and the first actuator actuates the jamming material to grasp the object.