Electro-Adhesive Tubular Clutch for Variable-Stiffness Robots
Yi Sun,Krishna Manaswi Digumarti,Hoang-Vu Phan,Omar Aloui,Dario Floreano,Yi Sun,Krishna Manaswi Digumarti,Hoang-Vu Phan,Omar Aloui,Dario Floreano
Electro-adhesive clutches have become effective tools for variable stiffness functions in many robotic systems due to their light weight, high speed and strong brake force. In this paper, we present a novel, tubular design of an electro-adhesive clutch. Our clutch consists of flexible electrode sheets rolled into a tubular structure. This design allows encapsulating large electrode areas in a comp...
