Electroadhesion Technologies for Robotics: A Comprehensive Review

Abstract

Electroadhesion (EA) is an electrically controllable adhesion mechanism that has been studied and used in fields including active adhesion and attachment, robotic gripping, robotic crawling and climbing, and haptics, for over a century. This is because EA technologies, compared to other existing adhesion solutions, facilitate systems with enhanced adaptability (EA is effective on a wide of range of materials and surfaces), reduced system complexity (EA systems are both mechanically and electrically simpler), low energy consumption, and less-damaging to materials (EA, combined with soft materials, can be used to lift delicate objects). In this survey, we 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. Joint and collaborative efforts are still required to promote the in-depth understanding and mature employment of this promising adhesion and gripping technology in various robotic applications.

Low‐Voltage Reversible Electroadhesion of Ionoelastomer Junctions

“…[4][5][6] Compared to other mechanisms, electro-adhesion provides several advantages, such as precise control of adhesive force, fast response, lack of residue, quiet operation, and low energy consumption. [7][8][9] In particular, electro-adhesives have become increasingly adopted within the fields of haptics and robotics-for example to enable soft grippers, [10][11][12] wall climbing robots, [13][14][15] , touchscreens, [16][17][18] and haptic gloves for touching virtual objects [19,20] -thanks to their ability to function with stretchable dielectrics, small sizes, and low weights.…”

Materials with Electroprogrammable Stiffness

“…When no voltage is applied between the electrodes, the layers can freely slide past one another and the stiffness is dictated by the stiffness of the surrounding medium. When a voltage (typically ranging from 0.1 to 6 kV) [ 47 ] is applied, electrostatic forces from aligned dipoles in the dielectric pull the overlapping sections of the electrodes together. The resulting normal force between electrodes allows frictional forces at the contacting interface to resist in‐plane sliding and increase the in‐plane stiffness.…”

“…Stiffness changes due to electroadhesion occur in milliseconds and the response time depends on the applied voltage, electrode resistance, and system capacitance. [ 47 ]…”

An Autonomous Wall Climbing Robot for Inspection of Reinforced Concrete Structures: SIRCAUR

“…The technology used by wall-climbing robots to create adhesion forces includes vacuum generating devices that use centrifugal pumps, turbines, and compressed air [14]. A review of electroadhesion technologies [15] and the problems of adhesion and locomotion of wall-climbing robots are described in [16]. The adhesion methods and materials for bio-inspired climbing robots are described in [17].…”