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In many robotic systems, the holding state consumes power, limits operatingtime, and increases operating costs. Electrostatic clutches have the potentialto improve robotic performance by generating holding torques with low powerconsumption. The key limitation of electrostatic clutches has been theirlimited ability to generate the holding torques, or high specific shearstresses needed in many applications. Here we show how combining theJohnsen-Rahbek (JR) effect with the exponential tension scaling capstan effectcan produce clutches with the highest specific shear stress in the literature.Our system generated 31.3 N/cm^2 sheer stress and a total holding torque of 7.1Nm while consuming only 2.5 mW/cm^2 at 500 V. We demonstrate a theoreticalmodel of an electrostatic adhesive capstan clutch and demonstrate how largeangle (theta > 2 pi) designs increase efficiency over planar or small angle(theta < pi) clutch designs. We also report the first unfilled polymericmaterial, polybenzimidazole (PBI), to exhibit the JR-effect.

Johnsen-Rahbek Capstan Clutch: A High Torque Electrostatic Clutch