  Grippers can be attached to objects in a rigid mode, and they are therefore
used in various applications, for example granular jamming gripper. This paper
introduces a cutting-edge radial layer jamming mechanism with is tunable
stiffness, which is critical for the development of grippers. The layer jamming
mechanism generates friction between the layers of multi cylindrical walls by
pulling wire. This paper describes the principles of three types of proposed
tendon-driven jamming mechanism, in addition to their prototypes of string
configuration and the experiments conducted on the holding torques of their
joints. Due to the string configuration, the surface and three-dimensional (3D)
shape. This mechanism can be implemented in various applications.
