DOI: 10.5061/dryad.vx0k6dk0x
title: High performance electroadhesive clutches with multilayered architecture

description: 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
 low-voltage, high-performance EA clutches for next-generation motion and
 force control applications.
description: # 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, CP: continuous pulling, 2ms: 2 ms delay, 200V: applied voltage, 50hz: bipolar frequency of applied voltage, T2: Test #2 - **Force_ITOPVDF_Dsingle_VL2_0mm_4000stpCP_2ms_200V_50hz_T2_2.csv**: Force data for a single-layer clutch with a length of 15vmm. 4000stp: 4000 steps, CP: continuous pulling, 2ms: 2 ms delay, 200V: applied voltage, 50hz: bipolar frequency of applied voltage, T2: Test #2 - **For_SiN_VL1_3mm_4000stpCP_2ms_150V_50hz_Test1_untilslip.csv:** Force data for a composite clutch with a length of 10 mm and tail of 3 mm. 4000stp: 4000 steps, CP: continuous pulling, 2ms: 2 ms delay, 150V: applied voltage, 50hz: bipolar frequency of applied voltage, T1: Test #1 * **DIC_Composite_VL2_3mm_Test2.mat:** Strain and deformation data that belongs to a composite clutch with a width of 10 mm length of 15 mm (VL2) and a tail of 3 mm. This data is generated using digital image correlation (DIC) of pulling tests. * **DIC_Single_VL2_Test2.mat:** Strain and deformation data that belongs to a single-layer clutch with a width of 10 mm and length of 15 mm (VL2). This data is generated using digital image correlation (DIC) of pulling tests. * **DIC_Single_VL2_Test2_v3.mat**: Stain and displacement data for single-layer clutches. * **DIC_VL2_3mm_150V_4ROI.mat:** Stain and displacement data for clutch clutches. ROI: Region of interest * **Test1Data.mat, Test2Data.mat, Test3Data.mat**: Datasets that include force/area data for varying lengths (VL) and tails. * **ComparisonTable.xlsx:** Force/Area/Volt2 data for state-of-the-arts electroadhesive clutches. ## Code/Software MatLab 2023b was used to visualize the experimental data. The file name of Matlab code includes the Figure number and a short description of it. * **Fig5d_PerformanceComparison.m**: This Matlab script plots a comparison graph of electroadhesive clutches. The script read tabular data from "ComparisonTable.xlsx" document. * **Fig5bc_TailOptimization.m**: This Matlab script plots the force/area of composite clutches with varying lengths and tails. This script read data from "Test1Data", "Test2Data", and "Test3Data". * **Fig5a_InplaneDimension_SingleLayer.m**: This Matlab script plots the force/area of single-layer clutches with varying lengths and widths. This script reads data from "VL_force_150V.zip" * **Fig4cd_StrainProfiles_Composite.m**: This Matlab script plots the tensile and shear strain profiles of a composite clutch. This script reads strain data from "DIC_VL2_3mm_150V_4ROI.mat" and force data from "For_SiN_VL1_3mm_4000stpCP_2ms_150V_50hz_Test1_untilslip.csv" * **Fig4ab_StrainProfiles_SingleLayer.m**: This Matlab script plots the tensile and shear strain profiles of a single-layer clutch. This script reads data from strain data from "DIC_Single_VL2_Test2_V3.mat" and force data from "Force_ITOPVDF_Dsingle_VL2_0mm_4000stpCP_2ms_200V_50hz_T2_2.csv" * **Fig3e_DisplacementComposite.m**: This Matlab script plots the displacement profiles of a composite clutch. This script reads data from strain data from 'DIC_Composite_VL2_3mm_Test2.mat' and force data from "Force_ITOPVDF_Dsoft_VL2_3mm_3000stpCP_2ms_200V_50hz_T2.csv" * **Fig3d_DisplacementSingleLayer.m**: This Matlab script plots the displacement profiles of a single-layer clutch. This script reads data from strain data from ''DIC_Single_VL2_Test2.mat.mat' and force data from "Force_ITOPVDF_Dsingle_VL2_0mm_4000stpCP_2ms_200V_50hz_T2_2.csv" * **Fig2_CrackInitiationAndPropagation.m**: This MATLAB script simulates displacement profiles of a clutch under an increasing force. * **Fig2_AnalyticalModeling.m**: This MATLAB script plots normal and shear strains and force profiles of an electroadhesive clutch for different length scale.