A lightweight, low-power electroadhesive clutch and spring for exoskeleton actuation

@article{Diller2016ALL,
  title={A lightweight, low-power electroadhesive clutch and spring for exoskeleton actuation},
  author={Stuart Diller and Carmel Majidi and Steven H. Collins},
  journal={2016 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2016},
  pages={682-689}
}
Clutches can be used to enhance the functionality of springs or actuators in robotic devices. Here we describe a lightweight, low-power clutch used to control spring engagement in an ankle exoskeleton. The clutch is based on electrostatic adhesion between thin electrode sheets coated with a dielectric material. Each electrode pair weighs 1.5 g, bears up to 100 N, and changes states in less than 30 ms. We placed clutches in series with elastomer springs to allow control of spring engagement, and… 

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