<p>We have proposed a jamming membrane mechanism and a one-dimensional jamming mechanism as variable stiffness mechanism. These can be used as grippers that can firmly grasp complex shape objects. However, it is difficult for the jamming membrane gripper to grasp sharp objects, and for the one-dimensional jamming mechanism gripper to grasp fine objects. To solve these problems, we proposed a covered jamming mechanism. This mechanism encloses a striatum composed of beads in a rubber membrane. First, the basic principle of the devised mechanism was explained. Next, a basic experiment for holding an object were conducted using a covered jamming mechanism gripper based on the principle.</p>