Closed loop granular jamming apparatus

A closed loop granular jamming apparatus comprising:

• a membrane fashioned in a three-dimensional, closed loop geometry which is mathematically defined by a genus g surface where g is greater than or equal to one;
• a granular material deposited within an enclosed space of the membrane;
• a port providing a source of fluid egress and ingress from and to the enclosed space;
• and
• a compliant spine structure disposed internally within the apparatus and surrounded circumferentially by the granular material.

A closed loop granular jamming apparatus comprising:

• a membrane fashioned in a three-dimensional, closed loop geometry which is mathematically defined by a genus g surface where g is greater than or equal to one;
• a granular material deposited within an enclosed space of the membrane;
• and
• a port providing a source of fluid egress and ingress from and to the enclosed space,
• wherein the membrane surrounds a plurality of individual internal fluid chambers, the granular material is deposited within each of the plurality of individual fluid chambers, and each of the plurality of individual fluid chambers is arranged and disposed for fluid egress and ingress.

A closed loop granular jamming apparatus comprising:

• a membrane fashioned in a three-dimensional, closed loop geometry which is mathematically defined by a genus g surface where g is greater than or equal to one;
• a granular material deposited within an enclosed space of the membrane;
• a port providing a source of fluid egress and ingress from and to the enclosed space;
• at least one additional membrane fashioned in a three-dimensional, closed loop geometry which is mathematically defined by a genus g surface where g is greater than or equal to one;
• the granular material being deposited within at least one additional enclosed space of the at least one additional membrane;
• and
• at least one additional port providing a source of fluid egress and ingress from and to the at least one additional enclosed space,
• wherein the membrane and the at least one additional membrane are disposed in a vertical stacked configuration and constrained relative to one another via straps, adhesive, an outer membrane, or combinations thereof.

A method for reversibly manipulating a body, comprising:

• contacting the body with a closed loop granular jamming apparatus in a deformable, unjammed state, wherein the closed loop granular jamming apparatus includes:
• a membrane fashioned in a three-dimensional, closed loop geometry which is mathematically defined by a genus g surface where g is greater than or equal to one;
• a granular material deposited within an enclosed space of the membrane;
• a port providing a source of fluid egress and ingress from and to the enclosed space;
• and
• at least one insert including a proximal end and a distal end;
• manipulating the closed loop granular jamming apparatus to a desired conformation in contact with and relative to the body;
• and
• at least partially evacuating a fluid from within the membrane through the port to place the closed loop granular jamming apparatus in a rigid, jammed state,
• wherein the proximal end is disposed within the apparatus membrane and is surrounded circumferentially by the granular material, and the distal end is disposed outside of the apparatus membrane and is exposed to an ambient environment, and
• wherein in the jammed state, the closed loop granular jamming apparatus retracts an opening in the body, retains an opening in the body, holds the body, clamps the body, or combinations thereof, while permitting increased visibility and access to an area adjacent to the closed loop granular jamming apparatus relative to a comparative jamming apparatus which is identical to the closed loop granular jamming apparatus except that the comparative jamming apparatus has a comparative membrane fashioned in a comparative three-dimensional, closed loop geometry which is mathematically defined by a comparative genus g surface where g is equal to zero.