All‐Fabric Wearable Electroadhesive Clutch

@article{Ramachandran2018AllFabricWE,
  title={All‐Fabric Wearable Electroadhesive Clutch},
  author={Vivek Ramachandran and Jun Shintake and Dario Floreano},
  journal={Advanced Materials Technologies},
  year={2018},
  volume={4}
}
A lightweight, textile fabricated, haptic device consisting of an electrostatic adhesive clutch is introduced, which can constrain body movement when activated at low power (≈1 mW). The clutch electrodes are composite structures, prepared by coating copper‐plated polyester fabric with thin films of high‐κ dielectric ink. When voltage is applied across a pair of overlapping electrodes, the charge separation created between the overlapped surfaces gives rise to adhesive forces that resist tensile… 
High Force Density Textile Electrostatic Clutch
Clutches are key elements for blocking or coupling motion in wearable systems such as soft exoskeletons, haptic clothing, and rehabilitation equipment. Electrostatic clutches (ESclutches) are compact
Low-voltage Electroadhesive Pad with Thin Insulation Layer Fabricated by Parylene Deposition
Electroadhesion has a large potential to be extensively used due to its advantages such as lightweight, strong force, and flexibility, but the high excitation voltage (usually more than 1.5 kV)
Electroadhesion Technologies for Robotics: A Comprehensive Review
TLDR
This survey comprehensively detail the working principle, modeling, design, fabrication, characterization, and applications of EA technologies employed in robotics, aiming to provide guidance and offer potential insights for future EA researchers and applicants.
Materials with Electroprogrammable Stiffness
TLDR
A comprehensive review of the available materials that realize electroprogrammable stiffness is provided, showing that all current approaches can be categorized as using electrostatics or electrically activated phase changes, and summarizing the advantages, limitations, and applications of these materials.
Tuning the composition of conductive thermoplastics for stiffness switching and electrically activated healing
We introduce a class of stiffness-tuning polymer composites and carefully examine the influence of electrical activation and temperature on stiffness for a wide range of use cases. The composites are
Feasibility Analysis of a Self-Reinforcing Electroadhesive Rotational Clutch
TLDR
This paper examines the feasibility of a self-reinforcing electroadhesive rotational clutch using a simple model and predicts that substantial improvements in torque-to-power and torque- to-mass ratios are possible compared to industry-leading rotational clutches.
Suit-type Wearable Robot Powered by Shape-memory-alloy-based Fabric Muscle
TLDR
The SFM-applied STWR could overcome the limitations of conventional robots in terms of weight and inconvenience, thereby demonstrating the application potential of STWRs.
Compact Pneumatic Clutch With Integrated Stiffness Variation and Position Feedback
TLDR
A novel minimal clutch with integrated stiffness variation and real-time position feedback whose performance surpasses conventional jamming solutions is proposed, which will have an impact on the development of soft robots and wearable devices.
Jamming Skins that Control System Rigidity from the Surface
Numerous animals adapt their stiffness during natural motions to increase efficiency or environmental adaptability. For example, octopuses stiffen their tentacles to increase efficiency during
...
...

References

SHOWING 1-10 OF 42 REFERENCES
A lightweight, low-power electroadhesive clutch and spring for exoskeleton actuation
TLDR
A lightweight, low-power clutch used to control spring engagement in an ankle exoskeleton based on electrostatic adhesion between thin electrode sheets coated with a dielectric material that results in three times higher torque density and two orders of magnitude lower power consumption per unit torque.
Electroadhesive robots—wall climbing robots enabled by a novel, robust, and electrically controllable adhesion technology
TLDR
This paper describes a novel clamping technology called compliant electroadhesion, as well as the first application of this technology to wall climbing robots, and shows the ability to repeatably clamp to wall substrates that are heavily covered in dust or other debris.
Liquid Metal‐Conductive Thermoplastic Elastomer Integration for Low‐Voltage Stiffness Tuning
An electrically responsive composite is introduced that exhibits muscle‐like changes in elastic stiffness (≈1–10 MPa) when stimulated with moderate voltages (5–20 V). The stiffness‐tuning element
Batch Fabrication of Customizable Silicone‐Textile Composite Capacitive Strain Sensors for Human Motion Tracking
This paper presents design and batch manufacturing of a highly stretchable textile‐silicone capacitive sensor to be used in human articulation detection, soft robotics, and exoskeletons. The proposed
Variable stiffness strip with strain sensing for wearable robotics
TLDR
A modular variable stiffness strip based on layer jamming is proposed as a mechanical solution to constrain users' degrees of freedom and/or to implement wearable anchor points.
Versatile Soft Grippers with Intrinsic Electroadhesion Based on Multifunctional Polymer Actuators
A highly versatile soft gripper that can handle an unprecedented range of object types is developed based on a new design of dielectric elastomer actuators employing an interdigitated electrode
PRINCIPLES OF ELECTROADHESION IN CLOTHING ROBOTICS
With the growing need of automation for garment assembly in the clothing industry comes the requirement for a compete range of textile handling devices. Robotics offers the flexibility needed to
Soft-matter composites with electrically tunable elastic rigidity
We use a phase-changing metal alloy to reversibly tune the elastic rigidity of an elastomer composite. The elastomer is embedded with a sheet of low-melting-point Field’s metal and an electric Joule
A lightweight soft exosuit for gait assistance
TLDR
This preliminary work demonstrates that the exosuit can comfortably transmit joint torques to the user while not restricting mobility and that with further optimization, has the potential to reduce the wearer's metabolic cost during walking.
...
...