A Three-Phase Electrostatic Clutch with Variable Mechanical Impedance Control for Soft Robotic Systems.

ABSTRACT: Various studies have explored mechanical impedance control strategies in soft actuators to enhance stability and precision, as the nonlinear characteristics of soft materials frequently lead to unwanted oscillations. Among these approaches, electrostatic (ES) clutches have shown promise for achieving friction-based mechanical impedance control; however, conventional ES clutches are limited by issues such as residual charge accumulation and stick-slip behavior, which compromise force stability and reliability over time. To address these limitations, this study introduces a three-phase ES clutch with variable mechanical impedance control, designed to enable continuous friction modulation and thereby reduce force degradation and oscillatory motion. Experimental validation was conducted throug

SUBMITTER: Lee D 

PROVIDER: S-EPMC12677595 | biostudies-literature | 2025 Dec

REPOSITORIES: biostudies-literature