Conformable dry adhesive holding device

1. A gripping device, comprising a holder including a base and a conformable jamming element having a conformable releasable surface-adhesive element secured onto a surface thereof; wherein the conformable releasable surface-adhesive element includes a plurality of overlapping dry adhesive devices; and wherein each overlapping dry adhesive device comprises a pad attached to a tether.

2. The gripping device of claim 1 , wherein the pad comprises an adhesive surface mounted on a planar backing layer.

3. The gripping device of claim 2 , wherein the planar backing layer comprises an elastic material having high in-plane stiffness.

4. The gripping device of claim 2 , wherein the adhesive surface comprises an elastomer attached onto the planar backing layer.

5. The gripping device of claim 1 , wherein the pad comprises an oval-shaped element having a major axis and a minor axis, wherein the tether is a planar sheet, and wherein the pad is attached to the tether along its major axis.

6. The gripping device of claim 5 , wherein the pad attached to the tether along its major axis comprises the pad attached to the tether along a straight-line portion of the major axis of the pad and centered about the minor axis of the pad.

7. The gripping device of claim 1 , wherein the conformable releasable surface-adhesive element secured onto a surface of the jamming element further comprises the conformable releasable surface-adhesive element secured onto the surface of the jamming element employing a plurality of re-usable attachment devices.

8. The gripping device of claim 1 , wherein the conformable jamming element attached to the base includes a closed impermeable pliable membrane containing a granular filling material;

and further comprising the base including a fluid conduit that connects to a pressure source, wherein the pressure source generates a negative pressure in the jamming element in response to a first control signal.

9. The gripping device of claim 8 , wherein the pressure source generates the negative pressure in the jamming element in response to the first control signal in conjunction with the conformable releasable surface-adhesive element gripping a portion of the workpiece when the holding device is urged against the portion of the workpiece.

10. A holding device for gripping a portion of a workpiece, comprising:

a holder including a base and a conformable jamming element having a conformable releasable surface-adhesive element including a plurality of overlapping dry adhesive devices on a surface thereof; wherein each overlapping dry adhesive device comprises a pad attached to a tether;

the conformable jamming element attached to the base and including a closed impermeable pliable membrane containing a granular filling material;

a controllable pressure device fluidly coupled to the conformable jamming element; and

a controller communicating with the controllable pressure device;

wherein the conformable releasable surface-adhesive element grips a portion of the workpiece when the holding device is urged against the portion of the workpiece.

11. The holding device of claim 10 , wherein the conformable jamming element attached to the base includes a closed impermeable pliable membrane containing a granular filling material;

and further comprising the base including a fluid conduit that connects to a pressure source, wherein the pressure source generates a negative pressure in the jamming element in response to a first control signal.

12. The holding device of claim 10 , wherein the pad comprises an adhesive surface mounted on a planar backing layer including an elastic material having high in-plane stiffness.

13. The holding device of claim 12 , wherein the pad comprises an oval-shaped element having a major axis and a minor axis, wherein the tether is a planar sheet, and wherein the pad is attached to the tether along its major axis.

14. The holding device of claim 13 , wherein the pad attached to the tether along its major axis comprises the pad attached to the tether along a straight-line portion of the major axis of the pad and centered about the minor axis of the pad.

15. A holder for gripping a workpiece, comprising:

a plurality of conformable holding devices, each holding device including a base and a conformable releasable surface-adhesive element including a plurality of overlapping dry adhesive devices secured onto a surface thereof, wherein a conformable jamming element attaches to its base and includes a closed impermeable pliable membrane containing a granular filling material, a controllable pressure device fluidly coupled to the conformable jamming elements; and

a controller communicating with the controllable pressure device;

wherein each of the plurality of overlapping dry adhesive devices comprises a pad attached to a tether that grip portions of the workpiece in response to commands from the controller to the controllable pressure device; and

wherein one of the conformable holding devices has freedom of motion on the holder adaptable to the workpiece.