inlay, set in, fall into, rugged
篏 centers on fitting something tightly into a space: inlaying, setting in, or falling into a gap. The 'rugged' sense likely extends from the idea of something being firmly embedded or stuck.
篏 is a rare character. It visually combines 竹 (bamboo) with 甘 and 欠, but the historical development is uncertain. It may be a variant or older form of 嵌, which uses 山 instead of 竹.
Picture bamboo (竹) strips being inlaid into a groove, fitting snugly like a puzzle piece. The lower part (甘 and 欠) suggests something sweet (甘) that is missing (欠) until it is set in place.
For カン, imagine a can of bamboo strips used for inlay work: can -> カン, and you set each piece into the groove.