The effects of electroadhesive clutch design parameters on performance characteristics

  title={The effects of electroadhesive clutch design parameters on performance characteristics},
  author={Stuart Diller and Steven H. Collins and Carmel Majidi},
  journal={Journal of Intelligent Material Systems and Structures},
  pages={3804 - 3828}
Actuators that employ clutches can exhibit mechanical impedance tuning and improved energy efficiency. However, these integrated designs have been difficult to achieve in practice because traditional clutches are typically heavy and consume substantial power. In this article, we describe a lightweight and low-power clutch that operates with electrostatic adhesion and achieves order-of-magnitude improvements in performance compared to traditional clutches. In order to inform appropriate design… 
Feasibility Analysis of a Self-Reinforcing Electroadhesive Rotational Clutch
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.
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
Compact Pneumatic Clutch With Integrated Stiffness Variation and Position Feedback
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.
Electroadhesion Technologies for Robotics: A Comprehensive Review
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.
Hybrid Actuation With Unidirectional Clutches for Handheld Haptic Controllers
A hybrid actuation mechanism composed of a geared motor and two active unidirectional clutches is introduced to achieve an increased impedance range and improve performance of a handheld haptic interface driven by a small motor while keeping the device lightweight, energy-efficient, safe, and low-cost.
Optimal Control of an Energy-Recycling Actuator for Mobile Robotics Applications
  • E. Krimsky, S. Collins
  • Engineering
    2020 IEEE International Conference on Robotics and Automation (ICRA)
  • 2020
This paper introduces the concept of an energy-recycling actuator, which uses an array of springs and clutches to capture and return elastic energy in parallel with an electric motor, and formulated the optimal control objective of minimizing actuator power consumption as a mixed-integer quadratic program (MIQP).
A Modeling Framework for Jamming Structures
Jamming is a structural phenomenon that provides tunable mechanical behavior. A jamming structure typically consists of a collection of elements with low effective stiffness and damping. When a
PnuGrip: An Active Two-Phase Gripper for Dexterous Manipulation
We present the design of an active two-phase finger for mechanically mediated dexterous manipulation. The finger enables re-orientation of a grasped object by using a pneumatic braking mechanism to
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
Experimental characterization of a multilayer silicone-based electroactive patch for gripper applications
Flexible thin-film Electro-Adhesive Devices (EADs) represent a promising technology with great potential for gripper applications. Generally, the gripping action of an EAD is due to the electrostatic


Clutched Elastic Actuators
This paper identifies the class of actuators called clutched elastic actuators (CEAs). CEAs use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses, legged robots, and
Design and validation of a Magneto-Rheological clutch for practical control applications in human-friendly manipulation
The design and experimental validation of a Magneto-Rheological clutch developed for servo control applications in human friendly robotic systems and developed as a practical prototype for potential industrial applications in the low to mid torque range are presented.
Design and evaluation of the Bi-directional Clutched Parallel Elastic Actuator (BIC-PEA)
The concept and design of the Bi-directional Clutched Parallel Elastic Actuator (BIC-PEA*), which reduces the energy consumption of robots by loading and unloading the parallel spring in a controlled manner, are introduced.
Clutchable series-elastic actuator: Implications for prosthetic knee design
A fully autonomous knee prosthesis designed utilizing a novel mechanism, known as a clutchable series-elastic actuator (CSEA), which provided biomechanically accurate torque-angle behavior and reduced the net electrical energy consumption of the CSEA Knee.
Design and testing of a selectively compliant underactuated hand
A compliant underactuated hand, capable of locking individual joints, has been developed that can adopt configurations and grasp sequences that would otherwise require a fully actuated solution.
Electroadhesive robots—wall climbing robots enabled by a novel, robust, and electrically controllable adhesion technology
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.
Experimental study of a flexible and environmentally stable electroadhesive device
Electroadhesion is a promising adhesion mechanism for robotics and material handling applications due to several distinctive advantages it has over existing technologies. These advantages include
ARES, a variable stiffness actuator with embedded force sensor for the ATLAS exoskeleton
A variable stiffness actuator, one of whose main features is that the compliant elements simultaneously allow measuring of the torque exerted by the joint, intended to be implemented in the knee of the ATLAS exoskeleton for children to allow the exploitation of the intrinsic dynamic during the locomotion cycle.
A Soft, Controllable, High Force Density Linear Brake Utilizing Layer Jamming
This letter introduces the design, modeling, and performance analysis of the SLJB, and measures and model the tensile force with respect to different layer materials, vacuum pressures, and lengthening velocities, and shows its ability to absorb energy during collisions.
A comparison of critical shear force in low-voltage, all-polymer electroadhesives to a basic friction model
Elastomer-based electroadhesion can be an effective method to provide tunable adhesion between robots and grasped objects or surfaces. However, there has been little work to develop models of