High performance electroadhesive clutches with multilayered architecture

Electroadhesive (EA) clutches are promising for advanced motion and force control in robotics, haptics, and rehabilitation, owing to their compactness and light weight. However, their practical use is limited by the inability to deliver high forces at low voltages, primarily due to a lack of understanding of their mechanics. We introduce a novel deformable body fracture mechanics approach and high-resolution strain field imaging to reveal that non-uniform stress distributions cause EA clutches to fail through delamination and crack propagation. Using this insight, we developed EA clutches sustaining 22 N over 1 cm² at 100 V, achieving the highest stress per voltage among similar clutches. This was achieved by incorporating a soft interlayer and peeling stopper for uniform stress distribution and mitigating the failure modes. These EA clutches were integrated into a lightweight ring-based wearable system for finger rehabilitation and haptics. Our findings lay the groundwork for designing..., , , # High Performance Electroadhesive Clutches with Multilayered Architecture

[https://doi.org/10.5061/dryad.vx0k6dk0x](https://doi.org/10.5061/dryad.vx0k6dk0x)

This dataset includes data files and Matlab scripts used to generate the main figures and plots in the manuscript.

## Description of the data and file structure

The data files are either in csv or in mat format. The datasets in this repository include the following files:

* **VL_force_150V.zip:** This folder contains data on holding forces measured at 150 V. The tested clutches have a 10 mm width and varying lengths (VL) of 10 mm (VL1), 15 mm (VL2), and 20 mm (VL3).
* **VW_force_150V.zip:** This folder contains data on holding forces measured at 150 V. The tested clutches have a 10 mm length and varying widths (VW) of 10 mm (VW1), 12.5 mm (VW2), and 15 mm (VW3).

- **Force_ITOPVDF_Dsoft_VL2_3mm_3000stpCP_2ms_200V_50hz_T2.csv:** Force data for a composite clutch with a length of 15 mm (VL2) and tail of 3 mm. 3000stp: 3000 steps...