Method and system for manufacturing a shoe

A method for at least partly manufacturing a piece of apparel, the method comprising:

• moving a robotic actuator arm bearing a component of the piece of apparel toward an adaptive morph pad comprising a particle jamming device having particles within a cavity formed by a flexible outer surface;
• operating the robotic actuator arm to press the component against the adaptive morph pad so as to change a configuration of the particles in the cavity into a first configuration conforming with a combined shape defined by the component and a portion of the robotic actuator arm, the portion extending from the component;
• jamming the particle jamming device so as to secure the particles in the first configuration and such that the adaptive morph pad is arranged as an individualized support structure at least partially underneath and supporting the component and the portion of the robotic actuator arm extending from the component;
• maintaining an engaged state in which the component is engaged with the robotic actuator arm;
• and
• pushing a stamp down against the component with the component in the engaged state with the robotic actuator arm and with the component and the portion of the robotic actuator arm extending from the component supported by the individualized support structure from underneath.