Clutching with High Force, High Bandwidth, Low Mass, and Low Energy Consumption using Electrostatics

Electrostatic clutching offers lightweight, energy-efficient, and fast controllable force transmission for exoskeletons and walking robots. Clutching is achieved by charging two electrically-conductive clutch plates with micrometerscale thickness separated by a thin dielectric insulating layer. Because the clutch acts like a capacitor, power is only required while changing states, not to maintain an engaged or disengaged state. The clutch can employ flexible conductive elements (Fig. 1), such as aluminum-coated polymers, enabling use in applications that require conformability, such as soft exosuits.