Electroadhesion Explained

Electroadhesion^[1] is the electrostatic effect of astriction between two surfaces subjected to an electrical field. Applications include the retention of paper on plotter surfaces, astrictive robotic prehension (electrostatic grippers), electroadhesive displays,^[2] etc. Clamping pressures in the range of 0.5 to 1.5 N/cm² (0.8 to 2.3 psi) have been claimed.^[3] Currently, the maximum lateral pressure achievable through electroadhesion is 85.6 N/cm².^[4]

An electroadhesive pad consists of conductive electrodes placed upon a polymer substrate. When alternate positive and negative charges are induced on adjacent electrodes, the resulting electric field sets up opposite charges on the surface that the pad touches, and thus causes electrostatic adhesion between the electrodes and the induced charges in the touched surface material.^[5]

Electroadhesion can be loosely divided into two basic forms: that which concerns the prehension of electrically conducting materials where the general laws of capacitance hold (D = E ε) and that used with electrically insulating subjects where the more advanced theory of electrostatics (D = E ε + P) applies.^[6] In practice, surface irregularities such as waviness, wrinkles, and roughness introduce air gaps. Some models account for these effects by incorporating a layer that represents these air gaps.^[7]

Recently, electroadhesion has been garnering increasing attention from both academia and industry. It is being proposed for application in various fields, including gripping devices,^[8] climbing robots,^[9] VR haptics,^[10] and variable stiffness mechanisms.^[11]

References

1. AliAbbasi . Easa . Sormoli . MReza Alipour . Basdogan . Cagatay . 2022 . Frequency-Dependent Behavior of Electrostatic Forces Between Human Finger and Touch Screen Under Electroadhesion . IEEE Transactions on Haptics . 15 . 2 . 416–428 . 10.1109/TOH.2022.3152030 . 2024-06-14.
2. AliAbbasi. Easa. Martinsen. Ørjan Grottem. Pettersen. Fred-Johan. Colgate. James Edward. Basdogan. Cagatay. 2024. Experimental Estimation of Gap Thickness and Electrostatic Forces Between Contacting Surfaces Under Electroadhesion. Advanced Intelligent Systems. 6. 4. 2300618. 10.1002/aisy.202300618. 2024-06-14.
3. Web site: Electroadhesive Surface-Climbing Robots. SRI International. 2013-07-01.
4. Wei . Daiyue . Xiong . Quan . Dong . Jiufeng . Wang . Huacen . Liang . Xuanquan . Tang . Shiyu . Xu . Xinwei . Wang . Hongqiang . Wang . Hong . 2023-06-01 . Electrostatic Adhesion Clutch with Superhigh Force Density Achieved by MXene-Poly(Vinylidene Fluoride–Trifluoroethylene–Chlorotrifluoroethylene) Composites . Soft Robotics . 10 . 3 . 482–492 . 10.1089/soro.2022.0013 . 2169-5172.
5. Web site: Electroadhesion. SRI International. 2014-05-08.
6. Web site: A brief history of Electroadhesion. mechatronics.org. 2014-01-06.
7. Wang . Hongqiang . Comprehensive Model of Laminar Jamming Variable Stiffness Driven by Electrostatic Adhesion_supp2-3319650.mp4 . 2024-04-24 . dx.doi.org. 10.1109/tmech.2023.3319650/mm1 .
8. Book: Schaler . Ethan W. . Ruffatto . Donald . Glick . Paul . White . Victor . Parness . Aaron . An electrostatic gripper for flexible objects . September 2017 . 1172–1179 . 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . http://dx.doi.org/10.1109/iros.2017.8202289 . IEEE . 10.1109/iros.2017.8202289. 978-1-5386-2682-5 .
9. Wang . Hongqiang . Yamamoto . Akio . 2017 . Analyses and solutions for the buckling of thin and flexible electrostatic inchworm climbing robots . IEEE Transactions on Robotics . 33 . 4 . 889–900. 10.1109/TRO.2017.2690302 .
10. Xiong . Quan . Liang . Xuanquan . Wei . Daiyue . Wang . Huacen . Zhu . Renjie . Wang . Ting . Mao . Jianjun . Wang . Hongqiang . 2022 . So-EAGlove: VR haptic glove rendering softness sensation with force-tunable electrostatic adhesive brakes . IEEE Transactions on Robotics . 38 . 6 . 3450–3462. 10.1109/TRO.2022.3172498 .
11. Chen . Cheng . Fan . Dongliang . Ren . Hongliang . Wang . Hongqiang . 2024 . Comprehensive Model of Laminar Jamming Variable Stiffness Driven by Electrostatic Adhesion . IEEE/ASME Transactions on Mechatronics. 29 . 3 . 1670–1679 . 10.1109/TMECH.2023.3319650 .

Further reading

• Liang X, Sun Y, Wang H, et al. Delicate manipulations with compliant mechanism and electrostatic adhesion[C]//2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). IEEE, 2016: 401-406.
• Wang H, Yamamoto A, Higuchi T. A crawler climbing robot integrating electroadhesion and electrostatic actuation[J]. International Journal of Advanced Robotic Systems, 2014, 11(12): 191.
• Xie G, Wang W, Zhao X, et al. Low-voltage electroadhesive pad with thin insulation layer fabricated by parylene deposition[C]//2019 IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER). IEEE, 2019: 197-202.
• Wang H, Yamamoto A, Higuchi T. Electrostatic-motor-driven electroadhesive robot[C]//2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2012: 914-919.
• WANG H, YAMAMOTO A. Peel force of electrostatic adhesion in crawler-type electrostatic climbing robots[J]. Journal of the Japan Society of Applied Electromagnetics and Mechanics, 2015, 23(3): 498-503.
• Monkman G.J., Hesse S., Steinmann R. & Schunk H., Robot Grippers, Wiley‐VCH, 2007.
• Monkman G.J., Electroadhesive Microgrippers, Assembly Automation 30(4), 2003.
• Monkman G.J., Workpiece Retention during Machine Processing, Assembly Automation 20(1), 2000.
• Monkman G.J., An Analysis of Astrictive Prehension, International Journal of Robotics Research 16(1), 1997.
• Monkman G.J., Robot Grippers for use with Fibrous Materials, International Journal of Robotics Research 14(2), 1995.
• Monkman G.J., Compliant Robotic Devices and Electroadhesion, Robotica 10(2), 1992.
• Monkman G.J., Taylor P.M. & Farnworth G.J., Principles of Electroadhesion in Clothing Technology, International Journal of Clothing Science & Technology 1(3), 1989.
• Guo J., et al., Electroadhesion Technologies for Robotics: A Comprehensive Review, IEEE Transactions on Robotics 36(2), 2020.
• Guo J., Bamber T., et al, Optimization and experimental verification of coplanar interdigital electroadhesives, J. Phys. D: Appl. Phys. 49 415304, 2016.
• Guo J., Bamber T., et al, Investigation of relationship between interfacial electroadhesive force and surface texture, J. Phys. D: Appl. Phys. 49 035303, 2016.
• Bamber T., Guo J., et al., Visualization methods for understanding the dynamic electroadhesion phenomenon, J. Phys. D: Appl. Phys. 50 205304, 2017
• Guo J., Bamber T., et al, Toward Adaptive and Intelligent Electroadhesives for Robotic Material Handling, EEE ROBOTICS AND AUTOMATION LETTERS, VOL. 2, NO. 2, APRIL 2017
• Guo J., Bamber T., et al, Geometric optimisation of electroadhesive actuators based on 3D electrostatic simulation and its experimental verification, IFAC-PapersOnLine, 2016
• Guo J., Bamber T., et al, Experimental study of relationship between interfacial electroadhesive force and applied voltage for different substrate materials, Applied Physics Letters, 2017
• Guo J., Bamber T., et al, Symmetrical electroadhesives independent of different interfacial surface conditions, Applied Physics Letters, 2017

External links

• Electroadhesive robotic climbers
• Electroadhesives for MAV perching
• Electroadhesives, combined with artificial muscles, for skin-like robotic devices including soft conveyors and crawlers
• SUSTech AAR Laboratory