Minimizing body charge in electroadhesive actuators

Abstract

An electroadhesion clutch device may include: a first electrode assembly including a first conductive portion at least partially covered by a first dielectric insulator; a second electrode assembly including a second conductive portion at least partially covered by a second dielectric insulator; and an electrical signal generator configured to provide first and second signals to the first and second conductive portions of the electrode assembly, respectively. The first and second electrode assemblies may at least partially overlap and be configured to slide relative to each other at respective surfaces including the first and second dielectric insulators.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to U.S. patent application serial number 63 / 132265 filed on December 30, 2020 and U.S. patent application serial number 63 / 164210 filed on March 22, 2021, the contents of which are incorporated herein by reference in their entirety. Background Art

[0003] Apparel, such as bras, tops, bottoms, tights, leggings, underwear, hats or other head coverings, etc., can be constructed to provide support to the wearer during various activities. Such apparel can be configured to accommodate differences in body size and shape and can be configured for specific activities. Some apparel may have limited adjustment mechanisms or adaptability. Summary of the Invention

[0004] The present inventors have recognized that there is a particular need for improved fit and function of apparel, such as bras, corsets and various other garments, undergarments or base layers (also referred to herein as support garments), hats, helmets, head coverings, footwear, and other apparel. One example includes an adaptive bra that can provide a customized fit to an individual's body contours and can automatically or manually adjust to accommodate different dynamic conditions (e.g., changes in activity level).

[0005] For example, as the wearer transitions from rest to vigorous exercise, an adaptive bra can be variably adjusted within a range of settings, from maximum comfort to maximum breast support. An adaptive bra can also be dynamically adjusted using an automatic adjustment mechanism coupled to a motion sensor to inhibit unwanted movement of the breasts during activities such as running. Adaptive apparel, such as adaptive tights, athletic braces, or other items discussed below, can also provide dynamic support, potentially improving performance or reducing the likelihood of injury. During certain activities, adjustable compression sleeves can help with recovery or support the body. Many examples of the various support apparel presented here will be discussed in the disclosure below.

[0006] As used herein, the term "support garment" is intended to include any number of support garments, such as bras, sports bras, tank tops, tank tops with built-in support, swim tops, tights, base layers, pantyhose, leggings, athletic supports, and other styles or types of support garments used to support body tissue (e.g., breast tissue) and / or other parts of the wearer's body. Support garments may also include underwear, tights, leggings, base layers (e.g., tight tops or bottoms), sleeves, etc. Additionally, the term "support area," as used herein, is intended to include any type of structure that, when the support garment is worn, contacts or is intended to be positioned adjacent to a wearer's breasts and / or other parts of the wearer's body, including, but not limited to, reproductive organs. In an exemplary aspect, for a typical wearer, the support garment includes a first breast-contacting surface configured to contact or be adjacent to, for example, the wearer's right breast and a second breast-contacting surface configured to contact or be adjacent to, for example, the wearer's left breast. In example aspects, the support garment includes separate distinct cups (e.g., molded or unmolded), each cup including a breast contact surface, and each cup configured to cover or encase a separate breast, or the support garment may include a single or continuous strip of material that contacts both breasts of the wearer. In an example, the support garment may include a male cup-shaped contact surface that is configured to contact or be adjacent to, for example, the wearer's lower reproductive organs. While most of the examples discussed herein relate to adaptive bras, these principles can be applied to a variety of other support garments, including but not limited to compression tights, compression sleeves, or athletic supports (commonly referred to as jockstraps or cups).

[0007] The inventors have also recognized that there is a particular need to dynamically modify the support provided by certain types of support garments based on changes in activity level. The need to modify support stems from improvements in long-term comfort and function during activity. Accordingly, the systems and methods discussed herein may include an activity sensor, such as an inertial measurement unit (IMU), a global positioning sensor (GPS), or a heart rate monitor, that communicates with a control circuit that sends commands to an adaptive support garment including an adaptability engine to facilitate automatic changes in support, such as based on detected changes in activity level or changes in position or acceleration or deceleration. Such a system can provide all-day comfort to the wearer without compromising performance. Without the systems, methods, and apparatus discussed herein, the wearer may otherwise need to change support garments for different activities or make multiple manual adjustments.

[0008] The activity sensors discussed herein may include any sensor that provides an indication of a user's physical activity level, as well as any sensor that provides an indication of the forces (e.g., dynamic or static) exerted on an adaptive support garment during use. Sensors may be embedded in the adaptive support garment to provide data related to the forces exerted on portions of the support structure (e.g., straps, laces, cables, or fabric areas). Specific sensors such as strain gauges or stretch capacitance sensors are discussed below.

[0009] The present inventors have recognized that, in particular, problems to be solved include controlling or avoiding large amounts of charge accumulation in electrostatic or electroadhesion systems. Problems may include driving such systems with relatively large voltage signals and avoiding dielectric absorption in electrodes or dielectric components of the system itself. The problem may also include reducing power consumption and minimizing the risk of stray electric fields or currents at or near the system. The problem also includes providing a clutch system that can be rapidly actuated to prevent or suppress oscillations, rapid changes, or repetitive body movements. The problem may include charging and discharging the clutch system over thousands or millions of cycles, for example at a rate of at least about 100 cycles per minute or more, without the clutch force or shear force degrading over time. In other words, the problem may include providing a robust clutch system that can be actuated multiple times in rapid succession.

[0010] This section is intended to provide an overview of the subject matter of this patent application. It is not intended to provide an exclusive or exhaustive explanation of the invention. The detailed description is included to provide further information. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] To easily identify the discussion of any particular element or act, the most significant digit(s) in a reference number refers to the figure number in which the element is first introduced.

[0012] Figure 1A Portions of a system that may include an adaptive support garment are generally shown.

[0013] Figure 1B Portions of a system that may include an adaptive support garment are generally shown.

[0014] Figure 1C A block diagram generally illustrates some components of an adaptive support system.

[0015] Figure 2A A schematic top view of the electroadhesion first clutch system is generally shown.

[0016] Figure 2B A side view of an electroadhesion first clutch system is generally shown.

[0017] Figure 2C An example of a portion of a first clutch system is generally shown.

[0018] Figure 3 An example of an electroadhesion system is generally shown, such as may include or comprise a first clutching system.

[0019] Figure 4 An example of a second clutch system is generally shown.

[0020] Figure 5 An example of a first clutch control method is generally shown.

[0021] Figure 6 Shown generally are examples of various diagrams that graphically illustrate examples of control of a clutch system.

[0022] Figure 7A 、 Figure 7B and Figure 7C Examples of cross-sectional views of different electrode assemblies of a clutch system are generally shown.

[0023] Figure 8A and Figure 8B Examples of top views of different electrode assemblies for a clutch system are generally shown.

[0024] Figure 9A 、 Figure 9B 、 Figure 9C and Figure 9D Top views of examples of various electrode assembly components or assemblies are generally shown.

[0025] Figure 10A 、 Figure 10B and Figure 10C Included are views of examples of sealants used in electroadhesive clutch devices.

[0026] Figure 10D An aspect of the tube with a clutch activity indicator is shown.

[0027] Figure 10E An example of an electroluminescent display is generally shown.

[0028] Figure 11 An example of the bracketing method is generally shown.

[0029] Figure 12A and Figure 12B Included is a simplified side view illustration of a bonding interface between a conductive member and a sealant for a clutch device.

[0030] Figures 12C-12K An example of a method for interfacing an electrode assembly with a substrate is generally shown.

[0031] Figure 13A and Figure 13B A diagram generally illustrating an example of an apparel item.

[0032] Figure 13C An example of a garment control unit is generally shown.

[0033] Figure 13D and 13E Views of different apparel examples are generally shown.

[0034] Figure 14 Examples of support garment components and methods of use are generally shown.

[0035] Figure 15 An example of a first graph displaying tissue displacement and acceleration information is generally shown.

[0036] Figure 16 An example of a second graph displaying tissue displacement and acceleration information is generally shown.

[0037] Figure 17 Included are electroadhesion systems configured for use with footwear according to some embodiments.

[0038] Figures 18A-18G An example of an article of apparel having one or more apertures controlled by electroadhesion clutching is generally shown.

[0039] Figure 19 Examples of ventilation methods are generally shown.

[0040] Figure 20A and Figure 20B Examples of articles of apparel are shown in relaxed and stretched configurations, respectively.

[0041] Figure 20C A cross-sectional view of a portion of an article of apparel with a clutch system is generally shown.

[0042] Figure 21A 、 Figure 21B and Figure 21C An example of a clutch system for use in or with a sleeve of an article of apparel is shown.

[0043] Figure 22A An example of an article of apparel including a pocket having an access controllable by an electroadhesion clutch device is generally shown.

[0044] Figure 22B A view of an open pocket is generally shown, illustrating the electrode configuration for an electroadhesive clutch device.

[0045] Figure 23 is a block diagram illustrating an example computing device capable of performing aspects of the various techniques discussed herein. DETAILED DESCRIPTION

[0046] The following description describes the system, method, technology, instruction sequence and computer program product of the example embodiment of the present theme.In the following description, for the purpose of explanation, many specific details are set forth, so that the understanding of the various embodiments of the present theme is provided. However, it is apparent that the embodiment of the present theme can be implemented without some or other details in these specific details. Example only represents possible variation. Unless otherwise clearly stated, structure (such as structural component, such as module, equipment, system or its parts) is optional and can be combined or broken down, and operation (such as in process, algorithm or other functions) can change in order or be combined or broken down.

[0047] In an example, a solution to one or more of the technical problems discussed herein may include or use an electroadhesion device, such as may be used as a clutch. Generally, a clutch herein refers to a device that can be selectively or controllably actuated to achieve a particular one of a plurality of different states or configurations, including at least an "on" and an "off" state. For example, in the "on" state, one or more components of the clutch may maintain a particular orientation, shape, or configuration, such as relative to at least one other component of the clutch. In the "off" state, one or more components of the clutch may relax or release, thereby providing a relatively compliant configuration in which one or more components of the device may move relative to another component of the clutch.

[0048] In an example, the clutch can be coupled to or integrated with another object, such as an article of apparel or a machine. In an example, the clutch system or clutch device can include a first electrode assembly and a second electrode assembly, the first electrode assembly including a first conductive portion at least partially covered by a first dielectric insulator, the second electrode assembly including a second conductive portion at least partially covered by a second dielectric insulator. The clutch can include an electrical signal generator configured to provide first and second signals to the first and second conductive portions of the electrode assembly, respectively, and the first and second signals can include corresponding opposite polarity portions of an alternating current (AC) signal. The first and second electrode assemblies can be arranged in an at least partially overlapping configuration, such as on or along their respective surfaces including the first and second dielectric insulators. When the AC signal is applied and provided to the conductive portions of the electrode assemblies, relative movement between the electrode assemblies can be suppressed or prevented. When the AC signal is released or removed from the conductive portions of the electrode assemblies, relative movement between the electrode assemblies can be enabled.

[0049] As a result, technical problems can be solved, including managing or avoiding body charge or dielectric absorption in electrostatic or electroadhesion systems, such as by using one or more AC drive signals rather than using DC drive signals, which may adversely affect dielectric absorption effects and, in turn, may adversely affect the performance of the clutch system.

[0050] In an example, a solution to one or more of the technical issues discussed herein can include or utilize an electroadhesive device, for example, a clutch device including a planar conductive member and a housing that surrounds at least a portion of the conductive member. Specifically, the housing can include a flexible polymer substrate disposed adjacent to at least a first surface of the conductive member, and a dielectric member including a first portion disposed adjacent to an opposing second surface of the conductive member and a second portion disposed adjacent to a first side edge of the conductive member and coupled to the flexible polymer substrate.

[0051] Technical issues that may include suppressing or preventing stray electric fields or currents from leaving a clutch device may be addressed, at least in part, through the use of hardware, such as a housing for one or more conductive components of the clutch device. The housing may be comprised of one or more different materials, such as having different dielectric properties, and in some examples, may partially or completely encapsulate the conductive components.

[0052] The electroadhesion device or its components can be applied to textiles and other materials that constitute articles of clothing. That is, the device or its components can conform to a body part, such as a limb, and be configured to bend without breaking. For example, the device or its components can be configured to bend, shape, and / or adapt to various shapes and configurations of the user's body when the user moves. In some embodiments, the flexibility of the device or its components is measured by bending modulus or flexural modulus, which is a standardized measure of hardness when a force is applied to a material. As described herein, a flexible material is flexible as defined by ASTM D790 or ISO 178 standards. The flexural modulus is, for example, measured in MPa (N / mm 2 ) is a unit that represents the material's ability to bend. When a force is applied perpendicular to the long side of the sample, this is a measure of the material's hardness and is called a three-point bend test. Materials that lack rigidity are considered flexible. The flexural modulus is represented by the slope of the initial straight-line portion of the stress-strain curve and is calculated by dividing the change in stress by the corresponding change in strain. The ratio of stress to strain is a measure of the flexural modulus. The various components of the electroadhesion devices discussed here can use materials with a flexural modulus between 0.3 and 10 MPa, such as polyethylene terephthalate or acrylonitrile butadiene.

[0053] Furthermore, the present inventors have recognized the problem of maintaining the operational integrity of electroadhesion systems, particularly in situations involving humid environments. Electroadhesion systems for preventing or dampening body motion oscillations can be placed close to the wearer's body, and protective mechanisms can be provided to isolate the electroadhesion system from wearers who are susceptible to sweat, tears, ambient moisture such as rain, hail, snow, or fog, and other water-based fluids.

[0054] In one example, a solution to one or more of the technical problems discussed herein can include or utilize an electroadhesion device, such as a clutch having one or more components disposed within a waterproof housing. Electronic devices can benefit from a mechanism that prevents water or moisture from entering or contacting sensitive areas or components of the electronic device. Furthermore, the waterproof housing can be flexible to allow for the mobility suggested by electroadhesion and can be configured to be integrated with an article of apparel.

[0055] For example, an electroadhesion clutch device in a waterproof housing can be incorporated into various articles of apparel, including sports bras, tights, and athletic braces susceptible to sweat and moisture. These articles of apparel benefit from the flexibility provided by the housing and the selective movement offered by the electroadhesion clutch.

[0056] As a result, technical issues that may include electronic devices susceptible to water and moisture, etc., can be at least partially addressed by enclosing the electronic devices in a waterproof and flexible enclosure. The enclosure can include one or more different materials and, in some examples, can partially or fully enclose the conductive components of the clutch device.

[0057] The article of apparel may further include an accelerometer positioned within the housing. The accelerometer is configured to measure motion of a body to which the electroadhesion clutch device is coupled, and the electrical signal generator is configured to generate a signal based on the measured motion. The accelerometer may also be configured to measure a magnitude of acceleration of at least a portion of the clutch device, and the electrical signal generator may be configured to generate a signal having amplitude and / or frequency characteristics based at least in part on the magnitude of the acceleration.

[0058] The inventors have recognized that another problem to be solved involves managing the cyclical up-and-down motion of body mass during exercise. Repetitive motion can cause strain on the body, leading to physical injuries and corresponding pain. Specifically, when breasts undergo cyclical, repetitive motion without proper support, the Cooper ligaments found in the breast tissue can become strained. Furthermore, when the Cooper ligaments become strained or damaged, or fail to support the breast tissue, breast ptosis can develop over time.

[0059] Additionally, the male reproductive organs undergo similar cyclical motions, which can damage the organs after prolonged exercise, which can also cause pain. A person may also experience similar strain on other parts of the body, such as the feet, knees, elbows, and back.

[0060] In an example, a solution to one or more of the technical problems discussed herein can include or utilize an electroadhesion clutch, such as an article of apparel having a support region that is configured to selectively tighten and loosen. The article of apparel can include, among other things, a textile layer for the support region, a strap surrounding the electroadhesion clutch, and a signal generator providing one or more signals to the electroadhesion clutch.

[0061] Thus, technical problems that may include, inter alia, suppressing or preventing up and down movement of body mass (e.g., when the body is in motion) can be at least partially addressed by using hardware (e.g., electroadhesion clutches) in combination with an article of apparel having support areas that can be selectively tightened and loosened to provide adjustable support for the body mass.

[0062] In one example, a solution to one or more of the technical issues discussed herein may include or utilize an electroadhesion device in a support garment for a wearer. The support garment may include a textile layer forming a support region configured to adjustably inhibit displacement of a wearer's body part located proximate the support region. The support garment may further include a hollow strap secured to a portion of the textile layer, the hollow strap enclosing an electroadhesion clutch. The electroadhesion clutch includes a first electrode assembly, a second electrode assembly distinct from the first electrode assembly, and an electrical signal generator. The electrical signal generator provides one or more signals to the first and second electrode assemblies to cause the electroadhesion clutch device to selectively adjust the amount of displacement permitted by the support garment to a body part proximate the support region. The support garment may be a sports bra, and the support region may be a cup of the sports bra. In some embodiments, the hollow strap is a first hollow strap encapsulating the first electroadhesion clutch, and the support garment includes a second hollow strap encapsulating a second electroadhesion clutch. Each electroadhesion clutch is secured to a first and second portion of the textile layer forming the support region.

[0063] The support garment may further comprise a signal generator configured to provide one or more electrical signals to the first and / or second electroadhesion clutches. The first and second clutches selectively adjust the amount by which the support garment allows or inhibits movement of a body part. In an example, the actuation of the first and second clutches may be coordinated so that they are energized or de-energized substantially simultaneously. The support garment may be a sports support having a hollow strap fixed to the right side of a textile layer forming a support area and a second hollow strap fixed to the left side of the textile layer. Clutch electrodes, such as those provided in each hollow strap, may be individually controlled to selectively adjust the amount by which the support garment allows displacement of a body part. In some embodiments, the support garment may comprise a displacement sensor for each strap, the displacement sensor being configured to measure changes in the length or displacement of the strap. In some embodiments, the strap is a waterproof shell.

[0064] In some embodiments, the support garment includes an accelerometer configured to measure motion of the electroadhesive clutch or the garment or body to which the clutch is coupled, and to generate one or more signals based on the measured motion. The support garment can be configured to actuate or maintain a specific position or orientation when the wearer reaches or exceeds an acceleration or velocity threshold, and can be configured to relax when the wearer falls below the threshold.

[0065] Another challenge to address involves maintaining the wearer's optimal body temperature during various stressful conditions, including exercise, rest, and travel. Interchanging between various clothing items to suit specific environments can be cumbersome and wasteful. The wearer may be faced with deciding which clothing item to wear for each activity and / or environment. A wearer planning a long run and then catching a flight may need to choose between tight-fitting running apparel and comfortable loungewear.

[0066] In one example, a solution to one or more of the technical issues discussed herein can include or utilize an electroadhesion device in an article of apparel. The article of apparel includes a textile having an aperture coupled to an electroadhesion clutch device. That is, the clutch device or a component thereof can be integrated into the article of apparel and configured to selectively allow the aperture to open and close, or to maintain the aperture in a closed configuration. The article of apparel can include an electrical signal generator configured to send one or more signals to the electroadhesion clutch device to selectively allow the aperture to open and / or close.

[0067] Thus, in particular technical problems such as heat retention or perspiration in clothing without sufficient air circulation can be solved, for example using clothing with an electroadhesive clutch system to selectively control the holes for providing air flow to the wearer.

[0068] Incorporating electronic devices into wearable items can present various challenges. Wearable items can become wet due to environmental conditions, sweat from physical activity, washing, and other moisture sources. Encapsulating such electronics in a waterproof sealant can isolate the electronics from moisture, but physically integrating the electronics into the wearable item without compromising the sealant or damaging the electronics can be challenging.

[0069] In one example, a solution to one or more of the technical issues discussed herein can include or utilize an electroadhesive clutch secured to a textile. First and second electrode assemblies, each having a first and a second conductive member, are enclosed within an elastic housing. The elastic housing forms a first bond with the first conductive member at a first location on the elastic housing, and forms a second bond with the second conductive member near a second location on the elastic housing that is different from the first location. Formation of the bond between the first and second conductive members and the elastic housing maintains the housing without compromising the integrity of the first and second conductive members.

[0070] Articles of apparel, such as hats and sleeves, may not be used in all situations. For example, a hat may be worn during strenuous activity, where a relatively tight or snug fit helps prevent the hat from falling off the wearer's head, but may also be worn during less strenuous activity, such as walking or sitting, where comfort is more important. Furthermore, such articles of apparel may have a "one-size-fits-all" configuration, where a single size fits a variety of head sizes. However, this configuration may make the hat uncomfortable, particularly for relatively large or relatively small heads.

[0071] In an example, a solution to one or more of the technical problems discussed herein may include or use a textile that forms an opening configured to receive a body part of a wearer, and an electroadhesive clutch secured to the textile and extending around at least a portion of the opening. The electroadhesive clutch is configured to inhibit an increase in the size of the opening when one or more signals (e.g., a first and a second signal) are applied to an electrode assembly of the clutch, and to enable the size of the opening to increase when the one or more signals are not applied. Thus, an article of apparel can be adapted for any of a variety of use cases and for a variety of different physical attributes of the wearer of the article of apparel.

[0072] In an example, a solution to one or more of the technical issues discussed herein may include or utilize an electroadhesion device having a first electrode assembly and a second electrode assembly. The first electrode assembly includes a first conductive member and a first polymer substrate applied to the first conductive member, the first polymer substrate having a harderness greater than that of the first conductive member. The second electrode assembly includes a second conductive member and a second polymer substrate applied to the second conductive member, the second polymer substrate having a harderness greater than that of the second conductive member, wherein the first and second conductive members are proximate to each other and the first and second polymer substrates are distal to each other.

[0073] As a result, technical issues that can be addressed include, among others, the tendency of the first and second conductive members to bend or fold when sliding relative to each other, for example, by applying a polymer substrate to the first and second conductive members. The polymer substrate can also reduce wear on the first and second conductive members by preventing them from rubbing against surrounding structures, such as waterproof housings. By applying the first and second polymer substrates, the first and second conductive members are brought into close proximity, allowing them to function as an electroadhesive device while reducing the likelihood of damage to the first and second conductive members.

[0074] An adaptive support garment system dynamically changes the fit and support of an adaptive support garment (e.g., a bra or tights) in response to activity data obtained from one or more sensors worn by a user. The adaptive support system may also include components integrated into various wearable devices, such as footwear, watches, or support garments. In some examples, the adaptive support system may be controlled by a smartphone, smartwatch, or similar wearable computing device that communicates wirelessly with other components of the system. In other examples, the adaptive support system is controlled by circuitry built into components integrated into the adaptive support garment and / or footwear. The following figures illustrate example systems and discuss at least some of the variations contemplated by the inventors.

[0075] Figures 1A-1B is an illustration of a system including an adaptive support garment and associated electronic devices, according to some example embodiments. In this example, the adaptive support garment system 1 includes components such as an adaptive support garment 10, a shoe assembly 20, and a smartwatch 30. Optionally, the adaptive support garment system 1 can also communicate with a smartphone 35 or other handheld or mobile device to control or adjust parameters. In this example, the shoe assembly 20 includes an activity sensor 25, and the adaptive support garment 10 includes an adaptability engine 15. In this example, the adaptability engine 15 is coupled to a clutch system 16 (also known as an electroadhesion clutch 16) that controls an adaptive support structure within the adaptive support garment 10. Optionally, the system 1 can also integrate a second adaptive support garment 40, shown here as an adaptive tights.

[0076] In this example, the shoe assembly 20 includes an activity sensor 25, which may include sensors such as accelerometers, gyroscopes, temperature sensors, magnetometers, heart rate sensors, or global positioning sensors (GPS) to detect changes in activity levels. In one example, the shoe assembly 20 includes an inertial measurement unit (IMU) that combines one or more accelerometers, gyroscopes, or other applicable sensors to provide specific force, orientation, or angular velocity changes to the monitored body. Data from the IMU can be used to detect motion, such as foot strikes or rhythm. In this example, data from the activity sensor 25 is transmitted to a smart watch 30 or a smartphone 35 for processing to determine whether adaptive support needs to be changed based on the activity data from the activity sensor. In another example, the activity data may be sent directly to the adaptability engine 15 for processing and determining the required adaptive support level.

[0077] Foot strike data can include part of a broader array of activity metrics that can be determined from sensors such as activity sensors 25 (e.g., a combination of an IMU and a force sensor). A step metric can include a single step or a step count. Steps can be defined for this metric based on parameters such as a minimum vertical force threshold, a minimum average vertical force per step, a minimum step time, and a maximum step time. A step metric can also include contact time, which is the time per foot per step calculated using a force signal (e.g., the time when the vertical force is >50N). Another step metric is swing time, which uses a force signal to calculate the swing time per foot per step (e.g., the time until the foot generates a force >50N when the vertical force is <50N). A step metric also includes cadence, which can be defined as the inverse of the sum of the contact and swing times of each foot using a force signal. Stride length is another step metric calculated using a force signal (e.g., the sum of the contact and swing times multiplied by the average velocity). Another step metric is impact force, which can be calculated in at least two ways. Impact can be the peak rate of rise of the vertical ground reaction force, or the active peak of the vertical ground reaction force. Impulse is another step metric calculated per foot per step using a force signal (e.g., the integral of the ground reaction force magnitude). Contact is another step metric derived from motion data. For example, IMU data sampled at 200 Hz is used to determine the angle of the foot relative to the horizontal plane when the foot makes contact. Contact can include rearfoot, midfoot, and forefoot angles. Any of the step metrics discussed here can be used as activity data, or in conjunction with other activity data, to help determine activity level, or directly determine the target support level for adaptive support garments.

[0078] In this example, one or each of adaptive engine 15, smartwatch 30, and smartphone 35, individually or in conjunction with one another or by accessing a remote computing resource, includes control circuitry that processes activity data and sends commands to adaptive engine 15 to change support characteristics as needed. Adaptive engine 15 receives the commands and activates the system to adjust the adaptive support structure by interacting with clutch system 16 coupled to adaptive engine 15.

[0079] Figure 1BThe user of the adaptive support garment system is shown transitioning between different activities that may require or benefit from various levels of support. In this example, an activity sensor 25 illustrated within the shoe assembly 20 is used to detect different activity levels, ranging from a relaxed walk to the moderate exertion of doing yoga to the more extreme impact and exertion involved in running. In this example, the activity sensor 25 sends data to a control circuit in a smartwatch 30, which runs an application that determines the current activity level based on the activity data interpreted from the sensor. In some examples, the smartwatch 30 may also include an activity sensor that also sends activity data to the control circuit operating on the smartwatch 30 to provide additional activity level information, thereby informing decisions to increase or decrease the support provided by the adaptive support garment 10 (e.g., an adaptive bra in this example). For example, the smartwatch 30 may include an integrated heart rate monitor, which can be used as additional information related to the activity level.

[0080] In the comfort zone, the adaptive garment support system 1 detects a low level of physical activity that has been determined to correspond to a relaxed level of support required for the adaptive support garment. Therefore, the control circuit commands the adaptability engine 15 to activate the adaptive support garment 10 and adjust it to a comfort setting. The control application (e.g., an application that operates the control circuit) may include a user interface that provides the user with access to different settings for the adaptive support garment. In an example, the settings may include associating different support levels with different predefined activity levels, such as rest = comfort support level (e.g., low support level) and higher impact = performance support level (e.g., high support level). Other mappings may be created, and a user interface may be presented to allow the user to generate a custom mapping. Table 1 shows an example mapping table of activity level-support level mappings.

[0081] activity level Support Level Rest (no effort, no impact) Comfort - Minimal Support Walking (moderate exertion, low impact) Entertainment-Moderate Support Yoga (moderate exertion and impact) Exercise - Enhanced Support Running (high exertion and impact) Performance - Super strong support

[0082] Table 1

[0083] As shown, a user can transition from a comfortable to a lower impact level by increasing the exertion and / or impact detected by the activity sensor. Dynamically, upon detecting the transition, the control circuitry in smartwatch 30 commands adaptive engine 15 to increase the level of support provided by adaptive support garment 10. If the user returns to a comfortable activity level (e.g., resting or walking), the control circuitry can command adaptive engine 15 to relax the support level back to a comfortable support level. Alternatively, if the user increases activity by running, the system can dynamically respond by having adaptive engine 15 increase the support level to a higher impact (performance) support level.

[0084] In some examples, users can select from a number of different activity-related parameters (e.g., heart rate, cadence, impact, etc.) and associate different levels of each parameter with different support levels. For example, a user can create a running activity category that uses heart rate and cadence as triggers. The running activity can then be mapped to a high support level. Support levels can also be configured by associating different support structure adjustments with specific support levels, such as the clutch force or tension of the support structure.

[0085] Figure 1C is a block diagram illustrating components of an adaptive support system according to some example embodiments. Note that in this document, an adaptive support system is also referred to as an adaptive support garment system. In this example, adaptive support system 1 includes components such as control circuitry 112, activity sensor 120, and an adaptability engine 104, which is integrated within an adaptive support garment 102. Adaptive support garment 102 may include an adaptive support region 106. Adaptive support region 106 includes one or more electroadhesive clutch devices 108 configured to selectively become static and / or elastic, and an electrical signal generator 110 that may generate a signal to control actuation of clutch device 108.

[0086] In an example, adaptive support garment 102 may include or use a clutch indicator 134 to provide an indication of the status or condition of clutch device 108. For example, clutch indicator 134 may include a tactile feedback device, a light source, or other interface device that can indicate whether clutch device 108 is engaged or disengaged, or the degree to which clutch device 108 is engaged. Clutch indicator 134 may include circuitry or other components configured to drive clutch indicator 134, such as an adjustable power signal source or other signal generator.

[0087] The control circuit 112 includes a processor 114, a computer readable storage device memory 116, and a communication circuit 118. As described above, in some examples, the control circuit 112 can be integrated into the smart watch 30 or the smart phone 35 ( Figure 1A ). In those examples, the control circuit 112 is embedded in a software application running on an operating system (e.g., iOS or Android) of the smartwatch 30 or smartphone 35 hardware. Thus, the processor 114 and storage device memory 116 will be part of the smartphone 35 or smartwatch 30. In the examples shown, the control circuit 112 is a standalone device or integrated into the adaptive support garment 102.

[0088] Processor 114 accesses instructions stored in storage device memory 116 to process activity data received via communication circuitry 118. Activity data may also be stored on storage device memory 116, at least during processing operations. Processor 114 also processes instructions that enable it to generate commands and transmit them to adaptability engine 104 via communication circuitry 118. The commands transmitted to adaptability engine 104 control activation of adaptability engine 104 to change the support characteristics of the adaptive support garment.

[0089] The control circuit 112 receives activity data from the activity sensor 120. In this example, the activity sensor 120 may include any combination of an IMU 122, an accelerometer 124, a strain gauge 126 (e.g., a capacitance-based strain gauge configured to measure displacement information), a global positioning system (GPS 128), a temperature sensor 130, and / or a heart rate sensor (HR sensor 132), as well as other sensors capable of generating data indicative of a user's activity level. The activity sensor 120 may include any combination of the listed sensors and communicate with the user via a wireless communication link, such as a wireless communication link. LE (low energy), transmits the generated activity data to the control circuit 112. In addition, as mentioned above, the components of the system 1 discussed above can be distributed in any combination on a device including a smart watch, a smartphone, a shoe component, or an adaptive support garment (e.g., integrated into an adaptive engine).

[0090] The term "electroadhesion" as used herein generally refers to the coupling of physical objects using electrostatic forces. The electrostatic forces between objects can be selectively controlled by a controller or processor circuit that can coordinate the generation and provision of electrical signals to different electrodes in or on the objects being coupled using electrostatic forces. The engagement, coupling, or adhesion between objects using electroadhesion can be controlled based on, for example, coupling or decoupling, or can be controlled based on the amplitude of the clamping force or the amplitude of the shear force between the objects. That is, the engagement between objects in an electroadhesion system can be controlled in a binary on / off manner, or in terms of the relative amplitude or degree of force that couples the objects or prevents relative motion between the objects.

[0091] In some examples, electrical control of electrostatic forces can provide controlled attachment or detachment of various objects. For example, electroadhesion can be used to connect or hold two or more surfaces together, and due to the electrostatic force from the induced electric field, grip, traction, or friction can be exerted between the connected surfaces. In some examples, a dielectric can be provided between the joined surfaces.

[0092] Surfaces connected using electroadhesion can have various surface properties or characteristics. For example, surfaces with different planar uniformity or flatness characteristics, smoothness or roughness characteristics, continuity or discontinuity characteristics, conductivity, morphology, compliance or flexibility or other characteristics can be connected using electroadhesion. In other words, the electroadhesion devices and techniques discussed herein are not limited to specific material properties or surface characteristics, however, some materials can exhibit electroadhesion characteristics that are different from other materials. For example, some materials may be better configured for repeated electroadhesion coupling and decoupling, while some materials may be better configured for relative motion between different materials.

[0093] In some examples, an electroadhesion system or device can include at least one compliant or conformable electroadhesion surface that is flexible in one or more dimensions. For example, due at least in part to the compliance of a first component of the electroadhesion system, the first component can more effectively couple or mate with a second component, such as a different or less compliant surface of another device.

[0094] For example, the first electroadhesion surface can include a compliant surface portion that is configured to promote electroadhesion attraction substantially independently of the surface roughness of the second electroadhesion surface. That is, the first electroadhesion surface can be configured to conform to discontinuities or other defects of the second surface with which the first electroadhesion surface is to mate. In examples, the electroadhesion surface can be configured to conform to microscopic, mesoscopic, and / or macroscopic surface features. Under the influence of appropriate electrical stimulation, the first electroadhesion surface can be attracted to the second electroadhesion surface, and the first electroadhesion surface can be made to conform at least partially to the second surface by local deformation or bending. In some examples, a variety of different adhesion modes can be provided between the primary and secondary devices or surfaces to further enhance the fit between the surfaces.

[0095] In some examples, an electroadhesion system may include at least one primary device having one or more electrodes. The primary device may be configured to adhere to or "clutch" a secondary device or target. The secondary device may similarly have one or more electrodes. The various device electrodes may be electrically stimulated to induce electrostatic attraction relative to another electrode or device, for example, when an appropriate voltage or current signal is applied to one or both devices. In some examples, polarization of the electrodes on the surface of the primary device may induce a corresponding polarization in the target device, thereby enabling adhesion of the primary and secondary devices.

[0096] In examples, controllable electroadhesion clutch systems may include or use lightweight electroadhesion films and may typically use relatively low-power electrical signals to form bonds with other surfaces and substrates, such as with other membranes. Many examples herein include or use electroadhesion clutch devices that include one or more pairs of membranes that can be electrically charged to generate a force that connects the membranes together. Other electroadhesion materials may include materials other than membranes, or different types of electroadhesion materials (e.g., membranes, fabrics, liquids, plastics, etc.) may be similarly used to provide the same or similar results.

[0097] Figure 2A A schematic top view of the electroadhesion first clutch system 200 is generally shown. Figure 2B A side view of electroadhesion first clutch system 200 is generally shown. Figure 2B The side view of FIG is a partially exploded view to better illustrate the various components and features of the first clutch system 200. The example of the first clutch system 200 includes a first electrode assembly 202 that can be selectively and controllably coupled to or decoupled from a second electrode assembly 208 using electrostatic forces. Figure 2B , the first electrode assembly 202 is shown as being proximate to, but decoupled from, the second electrode assembly 208. That is, in Figure 2B , the figure shows the electrode assemblies separated from each other and, for example, not affected by electrostatic attraction.

[0098] The first electrode assembly 202 includes an electrode having a first conductive surface 204, and the second electrode assembly 208 includes an electrode having a second conductive surface 210. The conductive surfaces can have respective portions that can be at least partially adjacent to each other. In the example of the first clutch system 200, the respective surface portions are shown as flat surfaces, however, other surface shapes or features (e.g., rounded surfaces, inclined surfaces, etc.) can be similarly used.

[0099] In an example, an electrical signal or signals may be applied to the first conductive surface 204 and the second conductive surface 210 of the respective electrodes, thereby inducing an electrostatic force that may couple the surfaces together, and thus couple the first electrode assembly 202 and the second electrode assembly 208. The strength of the force coupling the assemblies depends on, among other things, the surface areas of the adjacent conductive surfaces, the amplitude of the electrical signal or signals applied to the first conductive surface 204 and the second conductive surface 210, the distance between the surfaces, and the dielectric constant of any dielectric element or gap between the conductive surfaces.

[0100] The example of the first clutch system 200 includes a dielectric layer between a first conductive surface 204 and a second conductive surface 210. In the example of the first clutch system 200, each conductive surface is at least partially coated or covered with a dielectric insulator. In the first clutch system 200, a first dielectric layer 206 can be provided along a portion of the first conductive surface 204, which can be adjacent to the second electrode assembly 208 in certain orientations. A second dielectric layer 212 can be provided along a portion of the second conductive surface 210, which can be adjacent to the first electrode assembly 202 in certain orientations.

[0101] In other examples, one of the conductive surfaces includes or utilizes a dielectric insulator, while the other does not. The dielectric insulator can be applied or deposited uniformly, or can be deposited in a pattern or quasi-randomly (e.g., with a specific coverage per unit area) to achieve different adhesion characteristics for the first clutch system 200. In other examples, an air gap can be provided between the conductive surfaces and can include a dielectric insulator. Various spacers can be used to control the uniformity or non-uniformity of the air gap between the conductive surfaces of the first clutch system 200. Similarly, spacers can be used to control the compressive force on the dielectric member that can be provided between the conductive surfaces.

[0102] In the example of the first clutch system 200, the first electrode assembly 202 includes a first support 214 and a second support 216 located at opposite longitudinal ends of the first conductive surface 204. The supports can be configured to maintain the first conductive surface 204 in a generally flat configuration; however, supports of different shapes or configurations can similarly be used, for example, depending on the specific geometry or application of the clutch system. Similarly, the second electrode assembly 208 includes a third support 218 and a fourth support 220 located at opposite longitudinal ends of the second conductive surface 210. In examples, the supports comprise carbon fiber, aluminum, or other materials.

[0103] In an example, one or more supports may include conductive or non-conductive portions. In an example, first support 214 is coupled to first lead 224 or an electrical terminal. First support 214 may include a conductive portion or provide a substrate for a conductor that can receive an electrical signal from first lead 224 and provide it to first conductive surface 204. Similarly, third support 218 may be coupled to second lead 226 or an electrical terminal. Third support 218 may include a conductive portion or provide a substrate for a conductor that can receive an electrical signal from second lead 226 and provide it to second conductive surface 210. In an example, the various supports may be coupled to their respective conductive surfaces using insulators, and the electrical leads may be coupled to the conductive surfaces, for example, with or without any intermediate conductors, materials, or signal buses. For example, first support 214 may be coupled to insulator 228, which may be coupled to first conductive surface 204, thereby electrically decoupling first conductive surface 204 from first support 214. In some examples, electrically decoupling or isolating the conductive surface from its support can help concentrate available electrical energy in the conductive surface rather than distributing it over a larger area, such as may include the support. In an example, insulator 228 can be an adhesive component or layer that couples the support to their respective conductive surfaces.

[0104] The example first clutch system 200 includes an alignment device 222. The alignment device 222 can be configured to couple the electrode assemblies together, for example, to maintain a particular orientation or alignment between the first electrode assembly 202 and the second electrode assembly 208. In some examples, the alignment device 222 can include a spring, elastic member, or other extendable and retractable component that can be configured to bias the first electrode assembly 202 and the second electrode assembly 208 toward a particular orientation. In the example first clutch system 200, the alignment device 222 can bias respective surface portions of the first electrode assembly 202 and the second electrode assembly 208 into a substantially adjacent and at least partially overlapping orientation. As used herein, the term "substantially adjacent" can mean coupled, or can mean nearby but not coupled or decoupled, or can mean partially coupled, or can mean sufficiently close such that an electrostatic force can be generated between the surfaces, for example, with or without physical contact between the surfaces or between one or more dielectric layers provided between the surfaces. Multiple examples of the alignment device 222, or multiple alignment devices with different orientations, can be used together, for example to help prevent bending or warping of conductive portions of the electrode assemblies.

[0105] In an example, the conductive portion of the first conductive surface 204 or the second conductive surface 210 can include a conductive material printed, deposited, or sputtered onto a flexible or compliant substrate. For example, the conductive portion can include a polyester film substrate coated or sputtered with aluminum. In an example, one or both electrode assemblies in the first clutch system 200 can include an insulating dielectric layer, such as a ceramic-polymer composite, disposed on an aluminum-sputtered biaxially oriented polyethylene terephthalate film or BOPET film.

[0106] In an example, dielectric layers such as the first dielectric layer 206 or the second dielectric layer 212 and / or other insulating or partially insulating dielectric portions can be printed, deposited, sputtered, or otherwise applied to a film or other substrate. For example, the dielectric can include a substantially non-conductive printable dielectric ink or similar material, or the conductive portion can include a conductive printable ink or similar material. In an example, the dielectric can include a flexible or physically compliant material.

[0107] In an example, the aluminum-covered membrane can provide a conductive surface for the electrode assembly, and the polymer portion can provide a backing for the aluminum and can help strengthen the membrane to withstand forces from the support, such as when the electrode assembly is under physical strain or load. The thickness of the conductive surface or assembly can be varied by using different membranes, different amounts of polymer per unit area, or different amounts of conductive material.

[0108] The size and shape of the first electrode assembly 202 and the second electrode assembly 208 can be adjusted to suit various applications. In the example of the first clutch system 200, the first electrode assembly 202 is shown as having a first conductive surface 204 that is smaller in width than a second conductive surface 210 of the second electrode assembly 208. In some examples, the difference in width can be used to prevent shorting or other electrical coupling near the edges of the electrodes.

[0109] In operation, an electrical signal, such as an alternating current (AC) signal or a direct current (DC) signal, can be applied to the electrodes using the first lead 224 and the second lead 226. In response to the applied signal, opposite charges can accumulate on the first conductive surface 204 and the second conductive surface 210, and in turn, an electrostatic force (e.g., an attractive or repulsive force) can be generated at the interface between substantially adjacent portions of the surfaces, such as at or along the overlapping length portions of the surfaces. In the case of an attractive force, the first conductive surface 204 and the second conductive surface 210, and therefore the first electrode assembly 202 and the second electrode assembly 208, can adhere or bond. The resulting electrostatic adhesion and friction at the interface between the adjacent surfaces can prevent relative motion and resist shear forces. That is, when the first clutch system 200 is actuated and an electrostatic attraction exists between the first conductive surface 204 and the second conductive surface 210, any applied shear stress (e.g., a force applied parallel to the surfaces, such as moving one surface relative to the other) can be resisted.

[0110] When the electrical signal is removed or turned off, the first conductive surface 204 and the second conductive surface 210 can discharge and any electrostatic attraction at the surface interface can dissipate. In other words, the first conductive surface 204 and the second conductive surface 210 can disengage and slide relatively freely relative to each other, such as within any limits established by the alignment device 222 or any other displacement limiter.

[0111] The inventors have recognized that the force between the conductive surfaces of the first clutch system 200 can be expressed as a function of various geometric parameters and an electric constant ε0. For example, under the theoretical condition that the conductive surface is infinite, each plate can generate an electric field with an amplitude of E = σ / 2ε0 = Q / 2Aε0, where the surface charge density on the surface is ±σ and σ = Q / A. Since the two surfaces contribute equally to the electric field, the electric field between the surfaces is E total =Q / Aε0The potential difference is V=E total d, where d is the distance between the surfaces. The inventors also realized that since the surfaces can be oppositely charged, the attraction between the surfaces is equal to the electric field generated by one plate multiplied by the charge on the other plate. That is, The equations used to model the attractive force can be used to determine the shear force or the holding force or the clutch force of the first clutch system 200. For example, Where μ is the coefficient of friction between the surfaces, ε is the relative permittivity of the dielectric between the surfaces, ε0 is the electrical constant, A is the area of ​​the interface between the surfaces (e.g., the area of ​​the overlap), V is the applied voltage, and d is the thickness of the dielectric between the surfaces or the separation distance between the surfaces. In this example, the maximum shear force F shear It can be expressed as the constant and normal force F between the surfaces in the absence of applied voltage Nfunction, or F shear =kF N .

[0112] Based at least in part on the theoretical or ideal equations for the forces in first clutch system 200, the present inventors have recognized that the shear force between the surfaces is a function of the square of the applied voltage, and therefore the polarity of the voltage is practically irrelevant. Consequently, the present inventors have recognized that an AC drive signal can be used to minimize undesirable dielectric absorption in electroadhesion systems.

[0113] Figure 2C An example of a portion of a first clutch system 200 is generally shown. Figure 2C , a first electrode assembly 202 is adjacent to a second electrode assembly 208, and a voltage signal is applied to each electrode assembly. In the illustration, a "+" sign represents a positive voltage signal applied to the first conductive surface 204 of the first electrode assembly 202, while a "-" sign represents a negative voltage signal applied to the second conductive surface 210 of the second electrode assembly 208. As a result of applying the opposite polarity signals, an electric field 230 is generated. In the illustrated example, the first electrode assembly 202 includes a positively charged portion that attracts the negatively charged portion of the second electrode assembly 208. The electric field 230 causes an electrostatic force to hold the electrode assemblies together and resist the shear force F shear The maximum shear force F that the first clutch system 200 can withstand shear is given by the equation above and is a function of, among other things, the area over which the electric field 230 exists, the square of the applied voltage, and the properties of the dielectric between the conductive parts of the assembly.

[0114] In an example, multiple instances of the first clutch system 200 can be used together to provide enhanced clutching. For example, multiple instances can be provided in parallel or in series. Generally, the applications discussed herein are presented with reference to a single instance of the first clutch system 200, however, multiple instances can generally be used depending on size constraints, power constraints, and / or performance goals.

[0115] Figure 3 An example of an electroadhesion system 302 is generally shown, which may include or comprise the first clutch system 200. The electroadhesion system 302 may include a processor circuit 304, a signal generator 306, and a clutch electrode array 322. In an example, the electroadhesion system 302 may include an energy source 308, a user interface 310, and a sensor 314. In an example, one or more components of the electroadhesion system 302 may include or comprise a Figure 1C Components of an example adaptive support system 100.

[0116] exist Figure 3In an example, one or more components of electroadhesion system 302 can receive energy from energy source 308. Energy source 308 can include a battery or other AC or DC electrical energy source. In an example, energy source 308 includes energy harvesting circuitry, such as that used to harvest energy from, for example, a motion source, an RF or other electromagnetic source, or elsewhere.

[0117] Processor circuit 304 may include a general-purpose or specialized processor as discussed elsewhere herein. Processor circuit 304 may be configured to receive information from one or more of signal generator 306, energy source 308, user interface 310, sensor 314, or clutch electrode array 322 and, in response, control one or more operations of electroadhesion system 302.

[0118] The signal generator 306 may include an electrical signal generator configured to provide a DC or AC signal to the cleaving electrode array 322. In an example, the signal generator 306 is configured to generate an electrical signal having characteristics specified by the processor circuit 304. For example, the signal generator 306 may be configured to generate an electrical signal having a specified amplitude, frequency, pulse width, pulse or waveform morphology, or other characteristics according to instructions received from the processor circuit 304.

[0119] The clutch electrode array 322 can be configured to receive an electrical signal from the signal generator 306 and provide the signal to one or more electrodes, which may, for example, include part of a clutch system or clutch device. In an example, the clutch electrode array 322 includes a first electrode 324, a second electrode 326, or other electrodes, such as an nth electrode 328. Different electrodes in the clutch electrode array 322 can be individually addressed and can receive different signals from the signal generator 306. In an example, each electrode in the clutch electrode array 322 can include a portion of an electrode assembly. For example, the first electrode 324 can include or contain a first electrode 324, a second electrode 326, or other electrodes, such as an nth electrode 328. Figure 2A The first conductive surface 204 of the first electrode assembly 202 of the example, and the second electrode 326 may include or include Figure 2A The second conductive surface 210 of the second electrode assembly 208 of the example.

[0120] In an example, the user interface 310 may include various systems or devices or modules that can be configured to provide information to a user or receive information from a user. The user may include a human operator or an auxiliary device or other controller for the electroadhesion system 302. In an example, the user interface 310 is configured to receive instructions or information from the user regarding the desired behavior or operating characteristics of the electroadhesion system 302, which may include, for example, clutch force, clutch sensitivity, power consumption characteristics, or other information. The user interface 310 may be configured to provide feedback or other information to the user regarding the same or other characteristics of the system. For example, the user interface 310 may be configured to receive a user-specified indication of a clutch force to provide, and the user interface 310 may be configured to report to the same or a different user an indication of the actual clutch force applied or provided or available in the system.

[0121] In an example, user interface 310 may include a tactile element 312. Tactile element 312 may be configured to generate or provide a tactile sensation to convey information to a user. For example, the information may include a clutch state indication, a clutch force indication, or other information about electroadhesion system 302.

[0122] In an example, electroadhesion system 302 may include or use one or more sensors 314. Processor circuit 304 may receive sensor signal information from one or more sensors 314 and, in response, control clutching behavior or other actions of electroadhesion system 302. Various types of sensors may be used, including physiological sensors 316, motion sensors 318, or displacement sensors 320. In an example, physiological sensors 316 are configured to sense physiological information about a user of electroadhesion system 302. For example, physiological sensors 316 may include one or more of a heart rate sensor, an oxygen saturation sensor, an ECG sensor, a pulse sensor, an acoustic sensor, an ectodermal or galvanic skin response sensor, a muscle oxygen sensor, or other sensors configured to measure physiological information about a user.

[0123] In an example, motion sensor 318 may include a single-axis or multi-axis accelerometer, a gyroscope, a strain sensor, an inertial measurement unit (IMU) sensor, or other sensor configured to provide information about the motion or movement of electroadhesion system 302, a component of electroadhesion system 302, or a body or object to which electroadhesion system 302 is coupled or configured to affect. In an example, multiple instances of motion sensor 318 may be provided, such as at different locations around the body, such as to monitor the motion (e.g., absolute or relative) of different segments or parts of the body. In an example, information from motion sensor 318 may be used to determine an activity level, posture, position, or other characteristic of the body.

[0124] In an example, displacement sensor 320 may include a device configured to measure distance or displacement information. For example, displacement sensor 320 may be configured to measure the relative positions of different portions of first clutch system 200. For example, displacement sensor 320 may be configured to measure or provide information regarding the overlap of first electrode assembly 202 and second electrode assembly 208, information regarding the extension characteristics of alignment device 222, or other information regarding the orientation or position of components of electroadhesion system 302.

[0125] Sensors 314 may include other sensors not specifically listed here, such as environmental sensors, global positioning system (GPS) sensors, light sensors, proximity sensors, or other sensors.

[0126] Figure 4 An example of a second clutch system 400 is generally shown. Second clutch system 400 can include or utilize components of first clutch system 200 and / or electroadhesion system 302. For example, second clutch system 400 can include a reference electrode assembly 402, which can correspond to, for example, one of first electrode assembly 202 and second electrode assembly 208 from the example of first clutch system 200, and second clutch system 400 can include a movable electrode assembly 414, which can correspond to, for example, the other of first electrode assembly 202 and second electrode assembly 208.

[0127] The reference electrode assembly 402 may include a first clutch frame 404 that anchors or references at least one electrode of the second clutch system 400 relative to another. The movable electrode assembly 414 may include a second clutch frame 416 coupled to a different electrode of the second clutch system 400. Figure 4 In the example shown in FIG. 4 , reference electrode assembly 402 includes a first polymer substrate 406 coupled to a first clutch frame 404, a first conductive member 408 coupled to first polymer substrate 406, and a first dielectric member 410 coupled to first conductive member 408. Movable electrode assembly 414 similarly includes a second polymer substrate 418, a second conductive member 420, and a second dielectric member 422.

[0128] In various examples, the first and second polymer substrates 406, 408 are configured to provide rigidity to prevent or reduce the likelihood of bending or folding of the first and second electrode assemblies 202, 208 during use, but also be flexible so that the first clutch system 200 can be used in wearable articles disclosed herein. In various examples, the first and second polymer substrates 406, 418 are or include polyolefin foam. In various examples, the polyolefin foam is applied to the respective first and second conductive members 408, 420 using an adhesive layer between the first and second conductive members 408, 420 and the polyolefin foam, in which case the adhesive layer can be understood as part of the first and second polymer substrates 406, 418. In various examples, the polymer substrates have a thickness of approximately 0.25 mm, although greater or lesser thicknesses are also contemplated. In various examples, the first and second polymer substrates 406, 418 are formed from 5703LE pressure-sensitive adhesive foam tape.

[0129] Various components of the reference electrode assembly 402 or the movable electrode assembly 414 may include or correspond to components from Figure 2A 、 Figure 2B or Figure 2C Components of the first electrode assembly 202 or the second electrode assembly 208 of the example are shown. For example, the first polymer substrate 406 may correspond to the first support 214 or the second support 216, or the second polymer substrate 418 may correspond to the third support 218 or the fourth support 220. The first conductive member 408 may correspond to the first conductive surface 204, or the second conductive member 420 may correspond to the second conductive surface 210. The first dielectric member 410 may correspond to the first dielectric layer 206, or the second dielectric member 422 may correspond to the second dielectric layer 212. The example of the second clutch system 400 includes multiple examples of elastic aligners 428, which may correspond to the alignment device 222 of the first clutch system 200, etc. As similarly explained above in the discussion of the first clutch system 200, the elastic aligners 428 may be provided to arrange or hold the reference electrode assembly 402 and the movable electrode assembly 414 in place so that an electric field can be generated between the first conductive member 408 and the second conductive member 420, thereby inducing an electrostatic force to hold the electrode assemblies together.

[0130] In use, the second clutch system 400 includes a first dielectric member 410 of a reference electrode assembly 402, which is arranged substantially adjacent to a second dielectric member 422 of a movable electrode assembly 414 at or along an interface 430. When the electrode assemblies are arranged in this manner, an electric field can be induced between the first conductive member 408 and the second conductive member 420, which in turn can cause electrostatic forces to couple the reference electrode assembly 402 and the movable electrode assembly 414 together at the interface 430. In the absence of an electric field, the movable electrode assembly 414 can be configured to move relative to the reference electrode assembly 402. In an example, the movable electrode assembly 414 can move in a plane, such as parallel to the plane of the reference electrode assembly 402.

[0131] Figure 4 Examples include a first displacement sensor 426, which may include or correspond to a Figure 3 The first displacement sensor 426 can be coupled to the second clutch frame 416 and can move with the second clutch frame 416. The first displacement sensor 426 can be configured to measure the distance d between the sensor and the reference point. x , for example, along a particular axis. The reference point can be provided by, for example, a displacement sensor reference element 412, which can be disposed on or coupled to the first clutch frame 404, or can be disposed elsewhere in the second clutch system 400. In an example, the first displacement sensor 426 can be configured to measure displacement or position information in more than one dimension or along multiple axes. For example, the first displacement sensor 426 can be configured to measure the position of the sensor relative to the displacement sensor reference element 412 in the x, y, and / or z directions.

[0132] Figure 4 Examples include accelerometer 424, which may include or correspond to an accelerometer 424, such as a sensor 424, which may include or correspond to an accelerometer 424, which may include a sensor ... Figure 3 The accelerometer 424 can be configured to measure the acceleration of the second clutch frame 416 of the movable electrode assembly 414. As explained elsewhere herein, information from the accelerometer 424 can be used to determine or control actuation of the second clutch system 400, or to control the clutch force applied by the second clutch system 400.

[0133] In practice, when the first conductive member 408 and the second conductive member 420 are coupled to electrical terminals and driven by an electrical signal (e.g., an electrical signal from the signal generator 306), the assembly forms a capacitor that can charge and discharge. When a voltage is applied between the terminals, the capacitor charges and generates an electrostatic attraction. This attraction forces the conductive members together, increasing friction and inhibiting any relative motion. When the voltage is removed or reduced, the electrostatic attraction is removed or reduced, and the conductive members are effectively released and allowed to slide more freely relative to each other.

[0134] Figure 5 Generally shown is an example of a first clutch control method 500. The first clutch control method 500 may include or use various elements of the first clutch system 200, the electroadhesion system 302, or the second clutch system 400, or other systems or devices discussed herein.

[0135] At block 502, the first clutch control method 500 may include receiving a user control command for an electroadhesion clutch system. In an example, block 502 may include receiving a control command from a user using user interface 310. In an example, block 502 may include receiving a control command from a user using one or more sensors 314. For example, the user control command may include a user command to enable or disable the clutch system, or to control the degree or magnitude of the clutch system operation. In other words, the user control command may indicate the amount of clutch force or shear resistance to be provided by the system (e.g., a relative amount or an absolute amount).

[0136] At block 504, the first clutch control method 500 may include detecting or determining a state of the electroadhesion clutch system. In an example, block 504 may include using one or more sensors 314 to determine the condition, position, or other state of the clutch system. In an example, block 504 may include determining the relative position of electrodes in the clutch system, such as using displacement sensors 320, and providing information regarding the relative position to the processor circuit 304. In an example, block 504 may include determining the acceleration of the clutch system, or the acceleration of an object to which the clutch system is coupled, or the acceleration of an object that the clutch system is configured to control, and providing the acceleration information to the processor circuit 304.

[0137] In an example, block 504 may include measuring one or more properties of electroadhesion system 302 or its components. In an example, block 504 may include applying a filter (e.g., a smoothing filter or a noise reduction filter) or otherwise processing the measured properties to determine a position, orientation, configuration, or other information about a component of electroadhesion system 302 or the system itself. In an example, block 504 may include determining the alignment, position, and / or orientation of one or more electrode assembly components.

[0138] At block 506, first clutch control method 500 may include generating a clutch control signal based on the detected state of the electroadhesion system from block 504. For example, block 506 may include processing information from user interface 310, from sensor 314, or from another source using processor circuit 304 to generate a signal that controls clutching of the system. In an example, block 506 may include generating a binary on / off indication of the clutch system, or block 506 may include generating a signal indicating the magnitude of the clutch force to be provided by the system. For example, block 506 may include generating different control signals corresponding to different magnitudes of clutch force to be provided.

[0139] At block 508, first clutch control method 500 may include providing clutch electrode drive signals to electrodes in the electroadhesion clutch system. For example, block 508 may include providing a DC or AC signal to clutch electrode array 322 using signal generator 306. In an example, block 508 includes providing different electrical signals to different electrodes in clutch electrode array 322. In an example, block 508 includes providing opposite polarity components of the same AC signal to corresponding different electrodes in the clutch system, thereby inducing electrostatic forces between the electrodes and generating a clutch force.

[0140] In an example, blocks 506 and / or 508 may include using processor circuit 304 or another local or remote controller to perform various calculations based on the detected state, using calibration information, information about previously detected or stored states, previously defined control parameters, or other information to control various aspects of electroadhesion system 302. The results of the calculations may cause electroadhesion system 302 to implement one of a variety of different responses or controls, for example, depending on the application or control algorithm. In an example, processor circuit 304 or other controller may include a state machine, a feedback loop, a feedforward controller, a lookup table (LUT), a proportional-integral-derivative (PID) controller, a parametric controller, a model-based controller, a motion model-based controller, or a state-space controller, among others. Various parameters of the controller may be trained or optimized. In an example, the various parameters or algorithms may include or utilize machine learning or deep learning to better understand and respond to inputs, for example, using information from multiple different users. In an example, the controller of electroadhesion system 302 may be configured to improve, adapt, or otherwise reconfigure to improve or update the behavior or performance of the system, for example, based on usage patterns, properties of the system itself or its components (including degradation or wear), or other information.

[0141] In an example, a model-based controller for an electroadhesion clutch system can facilitate system adaptation to different users, such as those with different body types, or to different environments or conditions, such as with or without training data or training cycles. For example, control model parameters can be specified or set using prior information about the user or use case. In an example, the model can be updated based on detected changes or attributes of the system or user. For example, model parameters can be updated based on, for example, the shape or weight of a wearer's body part, or the compliance of the system or user's body. In an example, changes or deviations in model parameters can indicate changes in clutch system components or changes in the user. For example, parameter changes can indicate failure or wear of system components, and the user can be notified (e.g., using user interface 310). Additionally or alternatively, notifications can be provided to a remote operator or system, such as automatically suggesting alternative manufacturers or suppliers, thereby enhancing the user experience. In an example, changes in model parameters can indicate changes in the user's gait or posture, such as those that could indicate injury or fatigue. User interface 310 can be used to notify or alert the user of such changes.

[0142] Figure 6 An example of a plurality of graphs 600 illustrating an example of clutch system control is generally shown. Graphs 600 include acceleration signal graph 602, clutch signal graph 604, and voltage signal graph 606. Graphs 600 include a common time axis to generally illustrate an example of how acceleration information, clutch control, and electrode drive voltage signals correspond.

[0143] The example acceleration signal graph 602 includes an acceleration signal 608, such as may be received or derived from motion sensor 318 of the example electroadhesion system 302. Acceleration signal 608 may indicate a magnitude of acceleration of the body, electroadhesion system 302, or a component of electroadhesion system 302. For example, acceleration signal 608 may indicate an acceleration of a particular electrode or electrode assembly of a clutch system, such as described herein. Figure 4 Described in the example. Figure 6 In the example of FIG. 6 , the acceleration signal 608 is generally shown as an oscillating signal having a moderately constant frequency and a varying amplitude. In this example, a first or early portion of the acceleration signal 608 includes an oscillating acceleration-indicative signal having a first acceleration amplitude characteristic, while a second or later portion of the acceleration signal 608 indicates a second, larger acceleration amplitude characteristic.

[0144] The acceleration signal diagram 602 includes an acceleration signal with a fixed amplitude A th1 The first acceleration amplitude threshold 610 and the acceleration amplitude having a fixed amplitude A th2The acceleration threshold represents an amplitude threshold that, if exceeded, indicates a control state or a change in control state for the electroadhesion system 302. For example, if the acceleration signal 608 indicates an acceleration amplitude that is less than the first acceleration amplitude threshold 610, the system may have a first control state, and if the acceleration signal 608 indicates an acceleration amplitude that is greater than the first acceleration amplitude threshold 610 and less than the second acceleration threshold amplitude 612, the system may have a second control state, and if the acceleration signal 608 indicates an acceleration amplitude that is greater than the second acceleration threshold amplitude 612, the system may have a third control state. Although Figure 6 The example of illustrates the amplitude threshold condition as a fixed or static value, but other amplitude threshold conditions may be used, such as based on the shape of the acceleration signal 608, or based on absolute or relative changes in the acceleration signal 608. Similarly, fewer or more than two threshold conditions may be used; for illustration purposes, Figure 6 Two threshold conditions are used in the example.

[0145] Figure 6 The example of FIG608 illustrates that various control states can be specified or determined based on an acceleration magnitude threshold of the acceleration signal 608. Similarly, other acceleration-based changes or triggers can be used. For example, the frequency of the acceleration signal 608 can be used to trigger a change in the control state, or a change in the frequency of the acceleration signal 608 can be used.

[0146] The example clutch signal diagram 604 includes a clutch control signal 614. Figure 6 In the example shown, clutch control signal 614 is a binary signal that indicates whether the control signal for the electroadhesion clutch is on or off. In the on state, clutch control signal 614 can indicate that an electrical signal is being provided to one or more electrodes in the clutch system, while in the off state, clutch control signal 614 can indicate that the electrical signal is being removed or changed to a different value. In the example, when clutch control signal 614 is high or on, processor circuit 304 can be configured to provide a first control signal to signal generator 306, and in response, signal generator 306 can provide an electrical signal to one or more electrodes in clutch electrode array 322. When clutch control signal 614 is low or off, processor circuit 304 can be configured to provide a second control signal to signal generator 306, and in response, signal generator 306 can change the value of the electrical signal provided to one or more electrodes in clutch electrode array 322, or signal generator 306 can stop providing the electrical signal. In an example, when the clutch control signal 614 is low or off, one or more electrodes in the clutch electrode array 322 may be coupled to ground or a reference voltage source.

[0147] In an example, clutch control signal 614 can be a multi-valued signal having more than two states or values. That is, clutch control signal 614 can have states or values ​​indicating different levels of clutch control provided by the system. For example, in a first state, clutch control signal 614 can indicate zero clutching, or no electrical signal being provided to the electrodes in clutch electrode array 322. In a different second state, clutch control signal 614 can indicate moderate clutching, or a medium-amplitude electrical signal being provided to the electrodes in clutch electrode array 322. In a different third state, clutch control signal 614 can indicate high clutching, or a high-amplitude electrical signal being provided to the electrodes in clutch electrode array 322, thereby inducing a greater electric field and electrostatic force than in the second state. Similarly, more states with correspondingly different clutch forces can be used.

[0148] The example voltage signal graph 606 includes a clutch voltage signal 616. Figure 6 In the example, clutch voltage signal 616 represents a portion of a first AC signal that may be provided to one or more electrodes in clutch electrode array 322, for example, using signal generator 306. For example, clutch voltage signal 616 may represent a first AC signal that may be provided to first electrode 324, and a complementary, second AC signal of opposite polarity may be provided to second electrode 326, for example, substantially simultaneously. When the AC signal is provided, an electrostatic force may be induced between first electrode 324 and second electrode 326, thereby providing a clutch force that holds the electrodes together. The amplitude of the AC signal may affect the amplitude of the resulting clutch force. For example, an increase in the voltage amplitude of the AC signal may result in a corresponding increase in the clutch force, while a decrease in the voltage amplitude may result in a corresponding decrease in the clutch force. In the example, the duty cycle of the AC signal may affect the amplitude of the resulting clutch force. For example, an increase in the on-duration (e.g., providing the AC signal) may result in a corresponding increase in the clutch force, while a decrease in the on-duration may result in a corresponding decrease in the clutch force.

[0149] For example, during a first clutch period between t1 and t2, the clutch voltage signal 616 may include an AC signal having a first AC signal amplitude v1. During a subsequent second clutch period between t3 and t4, the clutch voltage signal 616 may include an AC signal having the same first AC signal amplitude v1. In an example, the AC signal amplitude may be based on the amplitude of the acceleration signal 608 during the same clutch period, or may be based on a relationship between the amplitude of the acceleration signal 608 and one or more acceleration amplitude thresholds. In other words, during Figure 6In the example of FIG, the magnitude of the clutch voltage signal 616 can depend on or be based in part on the relationship between the magnitude of the acceleration signal 608 and the first acceleration magnitude threshold 610 and the second acceleration threshold magnitude 612. Since the acceleration signal 608 does not exceed the second acceleration threshold magnitude 612 during the first and second clutching periods, the magnitude of the clutch voltage signal 616 can be set to v1.

[0150] Figure 6 Examples include a third clutch period between t5 and t6, a fourth clutch period between t6 and t7, and a fifth clutch period between t8 and t9. In the example of the third clutch period, the acceleration signal 608 exceeds the first acceleration amplitude threshold 610 at time t5, thereby triggering the clutch control signal 614 to change state from off to on. Because the acceleration signal 608 exceeds the first acceleration threshold 610 but does not exceed the second acceleration threshold 612 during the third clutch period, the amplitude of the clutch voltage signal 616 can be set or maintained at the first AC signal amplitude v1. In this example, the acceleration signal 608 can exceed the second acceleration threshold amplitude 612 at time t6, and in response, the amplitude of the clutch voltage signal 616 can change from the first AC signal amplitude v1 to the second AC signal amplitude v2. That is, the amplitude of the voltage signal provided to one or more electrodes in the clutch system can increase in response to information about the corresponding increase in acceleration. Figure 6 In the example of FIG, the clutch voltage signal 616 exhibits a gradual change from the third clutch period to the fourth clutch period, for example due to a change in the acceleration signal 608 within the same time interval corresponding to the third and fourth clutch periods.

[0151] In an example, the clutch voltage signal 616 may be controlled or may be varied in a manner other than a stepwise manner. For example, the amplitude of the clutch voltage signal 616 may be more directly or similarly dependent on the amplitude of the acceleration signal 608. That is, because the acceleration signal 608 may indicate or may be a proxy for clutch force demand (e.g., due to movement or changes in movement of a body or other object), the processor circuit 304 and the signal generator 306 may vary the amplitude of one or more drive signals for the clutch electrodes in the clutch electrode array 322 based on the amplitude of the acceleration signal 608. Figure 6 In the example of FIG, the fifth clutch period shows an example of a clutch voltage signal 616 having an amplitude envelope or morphological characteristics that generally corresponds to the envelope or morphological characteristics of the acceleration signal 608 at the corresponding time. In other words, the amplitude of the clutch voltage signal 616 can increase corresponding to an increase in the amplitude of the acceleration signal 608. Figure 6In the example shown, the amplitude of the clutch voltage signal 616 increases to approximately the third AC signal amplitude v3, which may correspond to, for example, a peak in the amplitude of the acceleration signal 608. In an example, changes in the amplitude of the clutch voltage signal 616 may more or less immediately track changes in the acceleration signal 608, or changes in the amplitude of the clutch voltage signal 616 may be a function of changes in the acceleration signal 608. For example, the changing amplitude information from the acceleration signal 608 may be smoothed, and the smoothed information may be used to control the amplitude of the clutch voltage signal 616.

[0152] In an example, the frequency of the clutch voltage signal 616 can be fixed or dynamic. For example, the frequency of the clutch voltage signal 616 can depend on, among other things, the amplitude of the acceleration signal 608, the frequency of the clutch control signal 614, the power or battery status of the clutch system, user preferences, or other frequency control indicators. Figure 6 In the example shown, the frequency of the clutch voltage signal 616 is substantially the same during the first, second, third, and fourth clutch periods, and the frequency of the clutch voltage signal 616 decreases during the fifth clutch period. Other clutch voltage signal 616 frequencies or frequency variations may similarly be used, for example, depending on the desired behavior or power consumption characteristics of the clutch system.

[0153] The inventors have recognized that a problem to be solved includes rapidly actuating a clutch system between on and off states. For example, the problem can include cycling a clutch system between on and off (e.g., powered and unpowered) states at a rate of at least about 60 Hz or 120 Hz or higher. That is, the problem can include providing an effective clutch that can change between an electrostatically activated or clamped state and an electrostatically inactivated or relaxed state, for example, multiple times per second. The problem can include managing dielectric absorption in an electroadhesion system, such as in the first clutch system 200, the electroadhesion system 302, or the second clutch system 400, etc., such as can develop in a capacitor or capacitor-like component of the system. The phenomenon of dielectric absorption can be understood in practice to represent an unwanted accumulation of charge on or between electrodes in the system. Dielectric absorption in a clutch system can particularly occur when a relatively high voltage excitation signal is applied to the clutch electrodes for a relatively long period of time.

[0154] For example, first clutch system 200 may include first electrode assembly 202 and second electrode assembly 208, whose configuration is susceptible to dielectric absorption. First conductive surface 204 and second conductive surface 210 may function like the plates of a capacitor, and capacitors are understood to exhibit the effects of dielectric absorption. If the clutch system is charged, for example to actuate the clutch, and then discharged and opened, a voltage may develop between the conductive surfaces due to dielectric absorption. That is, even without reconnecting first conductive surface 204 and second conductive surface 210 to a voltage source such as signal generator 306, the "capacitor" comprising first conductive surface 204 and second conductive surface 210 may exhibit voltage memory due to the voltage excitation or excitation signal across the dielectric molecular dipoles comprising the various components. In other words, the clutch system is susceptible to dielectric absorption, or residual voltage, which can impair the system's efficacy and the rate at which the system can cycle between on and off states. For example, if a residual voltage exists between the first conductive surface 204 and the second conductive surface 210, the clutch may be prevented from fully disengaging between clutch cycles, or the system or components thereof may be inadvertently or intermediately actuated, such as in an intermediate clutch position, which may be detrimental or adverse to the desired behavior of the system and, therefore, may be detrimental to the user experience.

[0155] The present inventors have recognized that a solution to the rapid actuation problem may include addressing dielectric absorption in the clutch system. For example, the solution may include actuating the system using a voltage excitation signal whose polarity varies with time, i.e., using an alternating current (AC) signal, e.g. Figure 6 The present inventors have recognized that the shear force F of the clutch system shear is a function of the square of the applied voltage, and thus the shear force is independent of the polarity of the applied drive voltage. In other words, the present inventors have recognized that using an AC clutch voltage signal 616 to excite the clutch system is beneficial relative to a DC drive signal because an AC signal can help reduce the effects of body charge or dielectric absorption without adversely affecting the maximum shear force.

[0156] The electrical drive signals for an electroadhesion clutch system can range from a few volts to hundreds of volts. Various mechanical features can be used to help physically isolate the electrodes of the clutch system, thereby preventing electrical contact between the electrodes and another object. For example, mechanical features can help prevent contact between two or more active electrodes that could cause a short circuit, or can be used to help prevent contact between an electrode and another sensitive object or surface, such as body tissue.

[0157] Figure 7A 、 Figure 7B and Figure 7CExamples of cross-sectional views of various electrode assemblies of a clutch system are generally shown, and the electrode assemblies may include various isolation features. For example, Figure 7A A cross-sectional view of a first example assembly 702a is included. The first example assembly 702a may include or correspond to one or more other electrode assemblies discussed herein. Figure 7A In the example of FIG. 7 , the first example assembly 702a includes a first conductive member 706a surrounded by a first electrode housing 710a. In the example, the first electrode housing 710a hermetically seals the first conductive member 706a and insulates it from the environment.

[0158] The first electrode housing 710a may include at least a first polymer substrate 704a and a first dielectric member 708a. Figure 7A In the example of , the bottom surface of the first conductive member 706a is coupled to the top surface of the first polymer substrate 704a. The first conductive member 706a can be deposited or otherwise attached to the first polymer substrate 704a, for example, along their respective abutting or adjacent surfaces. Figure 7A In the example of FIG, the first dielectric member 708a can be coupled around other sides or surfaces of the first conductive member 706a. For example, the first dielectric member 708a can be disposed around or coupled to a top surface and side surfaces of the first dielectric member 708a, and the first dielectric member 708a can be coupled to the first polymer substrate 704a, thereby enclosing the first conductive member 706a between the first dielectric member 708a and the first polymer substrate 704a.

[0159] The first example assembly 702a includes a first lead 712a extending through the first polymer substrate 704a to provide an electrical signal communication path between the first conductive member 706a and an access terminal in the first electrode housing 710a. In an example, the resulting signal communication path can be used to couple the first conductive member 706a to the signal generator 306.

[0160] Figure 7B A cross-sectional view of a second example assembly 702b is included. The second example assembly 702b may include or correspond to one or more other electrode assemblies discussed herein. Figure 7B In the example of FIG, the second example assembly 702b includes a second conductive member 706b surrounded by a second electrode housing 710b. In the example, the second electrode housing 710b hermetically seals the second conductive member 706b and insulates it from the environment.

[0161] The second electrode housing 710b may include at least a second polymer substrate 704b and a second dielectric member 708b. Figure 7BIn the example of , at least a portion of the side surface and the bottom surface of the second conductive member 706b can be coupled to or embedded in the second polymer substrate 704b. Figure 7B In the example shown, the second dielectric member 708b can be coupled around other sides or surfaces of the second conductive member 706b. For example, the second dielectric member 708b can be disposed around or coupled to the top surface of the second dielectric member 708b and can be coupled around all or part of the side surfaces of the second dielectric member 708b. The dielectric member and the polymer substrate can be coupled to enclose the second conductive member 706b between the second dielectric member 708b and the second polymer substrate 704b.

[0162] The second example assembly 702b includes a second conductive lead 712b extending away from the second conductive member 706b or through the second electrode housing 710b. Figure 7B In the example shown, second conductive leads 712b are disposed on or between second polymer substrate 704b and / or second dielectric member 708b to provide an electrical signal communication path between second conductive member 706b and access terminals in second electrode housing 710b. Other conductive lead configurations or attachments may similarly be used to provide electrical communication between, for example, signal generator 306 and conductive members of an electrode assembly in a clutch system.

[0163] Figure 7C A cross-sectional view of a third example assembly 702c is included. The third example assembly 702c may include or correspond to one or more other electrode assemblies discussed herein. Figure 7C In the example of , the third example assembly 702c can include at least a third conductive member 706c coupled between a third polymer substrate 704c and a third dielectric member 708c. Figure 7C In the example of , the bottom surface of the third conductive member 706c is coupled to the top surface of the third polymer substrate 704c. The third conductive member 706c can be deposited or otherwise attached to the third polymer substrate 704c, for example, along their respective abutting or adjacent surfaces. Figure 7C In the example shown in FIG, the third dielectric member 708 c can be coupled to an opposite second side of the third conductive member 706 c, e.g., not coupled to or along a side surface of the third conductive member 706 c. The side of the third conductive member 706 c can be uncovered or exposed, e.g., to facilitate coupling with external circuitry such as the signal generator 306.

[0164] Figure 7CAn example includes a smoothing agent 714 disposed on or coupled to the third dielectric member 708c. The smoothing agent 714 may include a material configured to smooth or fill any irregularities in the surface of the third dielectric member 708c, thereby providing a surface with a low coefficient of friction. In an example, a clutch system may include a pair of electrode assemblies, and at least one of the assemblies may include a smoothing agent. When the assemblies are positioned adjacent to each other in a face-to-face manner and subjected to repeated stresses of sliding or moving surfaces relative to each other, the smoothing agent may help extend the life of the system and reduce wear on the electrode assemblies. In an example, the smoothing agent 714 may include an ink-based, polymer-based, or other printable material that may be deposited in a relatively thin layer on the third dielectric member 708c. In an example, the smoothing agent 714 may have similar dielectric constant characteristics as the third dielectric member 708c.

[0165] In an example, the meniscus of the smoothing agent 714 can reduce the surface energy characteristics of the dielectric member 708c, and the meniscus can help initiate electroadhesion. The smoothing agent 714 can help fill pores or voids (e.g., defects) in the dielectric member 708c, which can be shorted by air having a lower dielectric constant. In an example, the smoothing agent 714 can include polydimethylsiloxane (PDMS) or other silicone hydraulic oil or grease.

[0166] In the examples of the first example assembly 702a, the second example assembly 702b, or the third example assembly 702c, the corresponding dielectric or polymer materials can be pre-existing materials or sub-assemblies, or they can include materials that are printed, deposited, or otherwise formed at the point of assembly of the electrode assembly. For example, the electrode assembly can include a film-based polymer substrate onto which the conductive member can be printed or deposited. The dielectric member can include a dielectric material that can be deposited or printed or overprinted onto the conductive member and the polymer substrate. By overprinting, the dielectric material can be connected to the polymer substrate or other insert material, such as Figure 7A and Figure 7B In some examples, the dielectric material or smoothing agent 714 may include a printed material that is deposited in multiple passes or layers to help maximize uniformity of coverage. In some examples, the smoothing agent 714 or dielectric material may be printed or deposited in a patterned or irregular manner to provide different friction characteristics or clutching behaviors.

[0167] In an example clutch system, the electrode assemblies in a particular paired electrode assembly can be configured similarly or differently. For example, the height, length, or width characteristics of an assembly or component of an assembly can be similar or different. In an example, different electrode assemblies in the same pair can have different length or width characteristics, for example to facilitate or accommodate a relatively wide range of relative motion between assemblies (e.g., in multiple directions, such as along different axes). Providing some clearance or space for lateral motion of one assembly relative to another assembly helps reduce repeated wear, which can form grooves or depressions on the surface of the assembly.

[0168] Figure 8A and Figure 8B Examples of top views of various electrode assemblies for a clutch system are generally shown, and the electrode assemblies may include various isolation features or components that may help minimize or prevent contact between conductive portions and other objects. For example, Figure 8A A top view of a fourth example assembly 802a is included. The fourth example assembly 802a may include or correspond to one or more other electrode assemblies discussed herein. Figure 8A In the example of , the fourth example assembly 802a includes a fourth conductive member 806a at least partially surrounded by a housing that includes a fourth polymer substrate 804a and a fourth dielectric member 808a. Figure 8A In the example of FIG. 1 , the fourth dielectric member 808a is deposited on the top and side surfaces of the fourth conductive member 806a, for example, similarly to FIG. Figure 7A and Figure 7B is shown in the cross-sectional example. Figure 8A An example includes a third conductive lead 810 that provides an electrical signal path between a drive signal source (eg, signal generator 306) and a fourth conductive member 806a.

[0169] Figure 8B A top view of a fifth example assembly 802b is included. The fifth example assembly 802b may include or correspond to one or more other electrode assemblies discussed herein. Figure 8B In the example of FIG, the fifth example assembly 802b includes a fifth conductive member 806b partially surrounded by a housing that includes a fifth polymer substrate 804b and a fifth dielectric member 808b. Figure 8B In the example of FIG. 8 , the fifth dielectric member 808 b is deposited on the top and longitudinal side surfaces of the fifth conductive member 806 b. The lateral side surfaces of the fifth conductive member 806 b may be exposed or exposed by the fifth dielectric member 808 b. Figure 8A and Figure 8B The examples generally illustrate that side surfaces may be partially or fully covered or encapsulated by the substrate and dielectric, and other arrangements and configurations besides those shown may similarly be used.

[0170] Figure 9A 、 Figure 9B 、 Figure 9C and Figure 9D A top view of examples of various electrode assembly components or assemblies is generally shown. As similarly explained elsewhere herein, when conductive components of different electrode assemblies are positioned adjacent to each other in a clutch system, an electrostatic force can be generated to hold the assemblies together. The magnitude of the force can depend on the electrical signal used to drive the electrode assembly and can depend on the configuration of the conductive components themselves. That is, the inventors have recognized that the magnitude of the clutch force in a clutch system can be at least partially controlled by the geometry or shape of the conductor, which in turn can affect the density of the electric field distribution around the conductor when the conductor receives an electrical signal, such as from a signal generator 306.

[0171] For example, Figure 9A An example of a sixth example assembly 902a is generally shown, which includes a base component, a conductive member, and a dielectric component, such as similar to Figure 8B As shown in the example. Figure 9A In the example, the dielectric component includes a dielectric gradient member 904. The dielectric gradient member 904 may include a dielectric material that is unevenly or irregularly deposited around a top surface of a conductive member. In an example, the gradient may represent a variable thickness of the dielectric gradient member 904, or may represent a variable dielectric constant characteristic of the dielectric component. The variable thickness or dielectric constant characteristic of the dielectric gradient member 904 may affect the behavior or power consumption of a clutch system including the sixth example assembly 902a.

[0172] Figure 9B An example of a seventh example assembly 902b is generally shown that includes a base component and a conductive member. A dielectric component may optionally be included in an electrode assembly including the seventh example assembly 902b, but such dielectric is omitted from the illustration. The seventh example assembly 902b includes an irregular conductive member 906. That is, the irregular conductive member 906 may include a conductive member similar to one or more other conductive members or components discussed elsewhere herein, however, the irregular conductive member 906 includes side features, surface features, or other features that are irregular in shape. Figure 9B In the example of FIG, notches are cut from the longitudinal side surfaces of the conductive member.

[0173] When the irregular conductive member 906 receives a drive signal, such as from the signal generator 306, the irregular conductive member 906 can provide an electric field around its surface area. Because the surface area is irregular, the generated electric field can be non-uniform. As a result, the behavior of a clutch system including the seventh example assembly 902b can differ from that of a system having a more uniform conductive member.

[0174] In some examples, the seventh example assembly 902b can be used in situations where the clutch system has different, discrete "stops" or clutch positions. These positions can correspond to specific electrode orientations. For example, the clutch system can be configured to stop where relatively wide portions of corresponding adjacent conductive members in different electrode assemblies overlap, for example because a larger magnitude electric field can be generated between these areas due to their relatively large surface areas. Narrower portions can present a smaller field and can cause the assembly to "slip" or move to one of the discrete positions.

[0175] Figure 9C An example of an eighth example assembly 902c is generally shown including a substrate component and a conductive member. A dielectric component may optionally be included in an electrode assembly including the eighth example assembly 902c, but such dielectric is omitted from the illustration. The eighth example assembly 902c includes a tapered conductive member 908. In this example, the tapered conductive member 908 has a larger conductive surface area per substrate unit area characteristic near a first side of the eighth example assembly 902c and a smaller conductive surface area per substrate unit area characteristic near an opposite second side of the eighth example assembly 902c. Similar to Figure 9B In the example, the clutching behavior of the clutching system including the eighth example assembly 902 c may be affected or changed by the shape and orientation of the tapered conductive member 908 .

[0176] Figure 9D An example of a ninth example assembly 902d is generally shown, comprising a base component and a conductive member. A dielectric component may optionally be included in an electrode assembly including the ninth example assembly 902d, but such dielectric is omitted from the illustration. The ninth example assembly 902d includes a perforated conductive member 910. The perforated conductive member 910 can be configured to have perforations or through-holes of various sizes, shapes, or orientations, which in turn can affect the electric field when the example assembly is driven by an electrical signal. In examples, the perforations can be distributed regularly or irregularly to provide different electric fields.

[0177] In examples, a clutch system can include electrodes or conductive members or conductors of similar or different configurations. For example, the seventh exemplary assembly 902b can be provided as the first electrode assembly in a clutch system opposite the eighth exemplary assembly 902c. In another example, two separate instances of the seventh exemplary assembly 902b can be provided in a clutch system. In another example, the sixth exemplary assembly 902a can be provided as the first electrode assembly in a clutch system opposite the ninth exemplary assembly 902d. Other combinations and arrangements of different electrode conductor types, shapes, sizes, and orientations can similarly be used to provide different types of clutching behaviors and varying amounts of clutching force.

[0178] Figure 10AA first view of an example sealant 1000 including an electroadhesive clutch device, such as for an article of apparel. Example sealant 1000 can be made of a flexible or compliant material and can form a protective housing for an electrode or electrode assembly of the clutch device. Other components or devices of the clutch system, such as an electrical signal generator, accelerometer, or other device, can be disposed within the housing.

[0179] exist Figure 10A In the examples, the sealant example 1000 includes an elongated sleeve or hollow tube 1008 in which the electrodes of the clutch device can be provided. The electrodes can be configured to slide laterally relative to each other when the clutch device is disengaged, and the tube or sleeve can be configured to expand or contract accordingly so that the electrodes are retained therein. In an example, the sealant example 1000 includes a first end 1004 and a second end 1006. The sealant example 1000 can be attached to a textile or article of clothing at each of the first end 1004 and the second end 1006. One or both of the first end or the second end can help form a watertight seal to protect the contents (e.g., Figure 10C ). Tube 1008 or the elongated flexible housing can be made of an elastic material and can also include a ribbed texture. The ribbed texture is composed of a rubber material. The housing can include a waterproof coating on an outwardly facing surface of the housing.

[0180] In an example, a first electrode assembly of an electroadhesive clutch can be secured to a first end of an elongated flexible housing, and a second electrode assembly of an electroadhesive clutch can be secured to a second end of the elongated flexible housing. A central or intermediate portion of the elongated flexible housing is configured to move relative to the first and second electrode assemblies. The elongated flexible housing can form an airtight fit around the first and second electrode assemblies.

[0181] In an example, the flexible outer shell is made of a stretch knit material coated with thermoplastic polyurethane. The flexible outer shell can be made of a four-way stretch material coated with polyurethane, such as spandex, for example, made of tricot polyester (e.g., an 85% polyester, 15% spandex blend). The flexible outer shell can be substantially windproof and waterproof and can be made of a stretchable fabric, such as a thin neoprene material with a black polyurethane coating.

[0182] In another example, the housing is made to be watertight, waterproof, water-repellent, or any variation thereof. The housing can be made to comply with various standards related to water ingress. For example, the housing can comply with the water ingress standard for consumer electronics described by the Ingress Protection Code (IPC), such as IPX2, IPX7, IPX8, or other suitable water ingress protection levels. The IPC test IPX2 involves dripping water when tilted up to 15° and stipulates that vertical dripping of water will not have a harmful effect when the housing is tilted up to 15° from its normal position. The test duration is 10 minutes and the amount of water involved is equivalent to 3 mm of rainfall per minute.

[0183] IPC test IPX7 involves immersion to a depth of 1 meter and stipulates that when the housing is immersed in water under specified pressure and time conditions, no harmful amount of water shall be able to enter (e.g. immersion up to 1 meter). The test duration is 30 minutes and the immersion depth is at most 1 meter measured at the bottom of the device and at least 15 cm measured at the top of the device.

[0184] IPC test IPX8 involves immersion in excess of 1 meter, which, for example, at 3-5 ATM, can be equivalent to a water depth of 30 or 50 meters. This test helps determine whether the device is suitable for continuous immersion in water under the conditions specified by the manufacturer.

[0185] International Electrotechnical Commission (IEC) Standard 60529 (or the equivalent European Standard EN 60529) classifies and rates the degree of protection provided by mechanical and electrical enclosures against ingress, dust, accidental contact, and water ingress. Other standards that can measure or rate water ingress include IEC Standard 60529, MIL-STD-810, and / or DIN 40050-9.

[0186] In an example, an electroadhesion device including a housing can be made to drape with similar or identical drape properties to a fabric to which the housing is applied. Drape generally refers to the shape or contour of a fabric at an edge, or to the way a fabric covers an object when used as a tablecloth or skirt, in the latter case generally referring to the formability of a fabric, which may be due to the reaction of the target material to gravity under its own weight. In an example, an electroadhesion device (e.g., an electroadhesion clutch and housing) can have substantially the same drape as a fabric to which the device is applied. For example, electroadhesion device components and housings can be manufactured to correspond to the drape coefficient of a fabric or other textile with which it is used, which can be determined using the techniques for determining the drape coefficient described in ISO standard 9073-9:2008.

[0187] Figure 10BA second view of sealant example 1000 is included as viewed from the rear side of the device. In some examples, the body of sealant example 1000 can include ribs 1002 or other suitable texture to visually conform to the article of apparel. Ribs 1002 can also serve as a functional mechanism to provide frictional retention between sealant example 1000 and the textile of the article of apparel. Ribs 1002 can be made of rubber, silicone, or other compliant material with a relatively high coefficient of friction. In addition, all or a portion of the outer surface 1014 of sealant example 1000, such as including the portion having ribs 1002, can be coated with a waterproof or water-repellent coating. Ribs 1002 can be located on the body of sealant example 1000, on one side of sealant example 1000, on both sides of sealant example 1000, or in any other suitable combination.

[0188] For example, the ribbed material can be formed by bonding a four-way stretch material (e.g., spandex or other suitable material) to an elastic ribbon material. The elastic ribbon material can be bonded to the shell (e.g., to sealant example 1000) using a heat-activated film (e.g., NASA-T from Sampo). By bonding, the shell gathers and forms a ribbed pattern.

[0189] Figure 10C A third side view of sealant example 1000 is shown. The first and second electrode assemblies can be inserted into sealant example 1000 at opening 1010. That is, the electrode assemblies can be introduced into sealant example 1000 so that they can be laterally encapsulated within or inside hollow tube 1008. Other components such as signal generator 110, accelerometer 124, or sensor 120 can also or alternatively be inserted and encapsulated within sealant example 1000. Sealant example 1000 can form an airtight fit or airtight seal around the first and second electrode assemblies and any other enclosed components. The sealant can be configured to stretch in the transverse and / or longitudinal directions.

[0190] In examples, the sealant or casing helps bias the enclosed first and second electrode assemblies toward each other to encourage the assemblies to remain in close contact while still maintaining sufficient separation so that the assemblies can move or slide laterally relative to each other.

[0191] In an example, the hollow tube 1008 can include a transparent or translucent material. In this example, the electrodes of the clutch device disposed within the tube are visible to the user. In an example, the tube can be fluid-filled (e.g., using translucent oil or other fluid). The tube can optionally be illuminated, such as with an intensity or color of illumination that indicates the clutch state of the clutch device, or the magnitude of the clutch force provided by the clutch device, such as by being enclosed within the tube. In an example, the tube itself or the material within the tube can be electroluminescent, i.e., configured to emit light in response to an electrical signal or electric field (e.g., from the clutch device or from another source).

[0192] Figure 10D An example of a hollow tube 1008 of a sealant example 1000 is generally shown with a clutch indicator 134 that can provide information regarding clutching activity of a clutching device in, near, or coupled to the tube. Figure 10D In the example shown, the clutch indicator 134 includes one or more light sources, such as light emitting diodes or LEDs, embodied as LED circuits 1018. The LED circuits 1018 can be coupled to the hollow tube 1008, for example, inside or outside the tube. The tube can optionally include a transparent or translucent material. The LED circuits 1018 can include one or more LED devices, which can be distributed or positioned along the length of the hollow tube 1008. The LED devices comprising the LED circuits 1018 can be configured to emit light of the same or different wavelengths or colors, or each device can be configured to emit light of multiple different wavelengths or colors.

[0193] The LED circuit 1018 can be coupled to an illumination driver circuit 1016, which is configured to provide a power signal to one or more LED devices including the LED circuit 1018. The illumination driver circuit 1016 can receive illumination instructions from, for example, the signal generator 110. In an example, the illumination driver circuit 1016 can control the brightness or color of light emitted by the LED circuit 1018 based on the characteristics of the clutch drive signal provided by the signal generator 110. For example, when the signal generator 110 provides a clutch drive signal of relatively large magnitude to the clutch device 108 (e.g., corresponding to a strong actuation of the clutch device disposed in the hollow tube 1008), the illumination driver circuit 1016 can provide a relatively large power signal to the LED circuit 1018, thereby brightly illuminating the LED device including the LED circuit 1018. When signal generator 110 provides a relatively low amplitude clutch drive signal to clutch device 108 (e.g., corresponding to slight or no actuation of the clutch device disposed in hollow tube 1008), illumination driver circuit 1016 can provide a relatively low power signal to LED circuit 1018, thereby dimly illuminating the LED device. Similarly, illumination driver circuit 1016 can be used to control LED circuit 1018 to emit different colors of light depending on the characteristics of one or more signals from signal generator 110, or based on information from one or more other sensors 120 in adaptive support system 100. Clutch indicator 134, for example, including LED circuit 1018, can thus provide visual feedback to a user or wearer of adaptive support system 100 regarding the system's behavior or status. This feedback can be used, for example, to provide verification that the system is functioning, or to assist in training the user, such as by training the user to adopt a different gait or cadence.

[0194] Although LED devices are mentioned, other illumination sources can similarly be used in or with hollow tube 1008. For example, liquid crystals, electroluminescent or phosphorescent materials, lamps, or other light sources can similarly be used. In an example, hollow tube 1008 can include or be filled with a fluid, and the fluid can be illuminated. The fluid can optionally include a liquid, and in an example, the clutch device can be immersed in the liquid. In an example, the liquid can have a viscosity or other properties that help increase the life of the clutch device, for example, over thousands of clutch actuation cycles.

[0195] Figure 10E An example of a pair of electrode assemblies is generally shown, which may include an electroluminescent display electroadhesion clutch, or ELD EAC. This example may include a first ELD electrode assembly 1020 and a second ELD electrode assembly 1030. Figure 10EIn the example of FIG. 1 , each ELD assembly is shown in an exploded view to better illustrate the multiple layers. In use, the first and second ELD electrode assemblies 1020 and 1030 can be provided in an at least partially overlapping manner, similar to that shown in the example of the electroadhesive first clutch system 200. During use, as shown in FIG. Figure 10E As shown between the dashed lines, the overlapping region can emit light. In an example, one or both of the electrode assemblies can be configured to emit light.

[0196] An example of a first ELD electrode assembly 1020 may include a film substrate 1021, a conductive layer 1022, a phosphor layer 1023, and a dielectric layer 1024. An example of a second ELD electrode assembly 1030 may include a film substrate 1034, a conductive layer 1033, a phosphor layer 1032, and a dielectric layer 1031. In an example, film substrates 1021 and 1034 may include PETE film, for example, a transparent polymer film, and may have a thickness of, for example, approximately 50 microns. Phosphor layers 1023 and 1032 may include electroluminescent materials that may be configured to emit light, such as white light or colored light. In an example, the phosphor layers may include DuPont 8150L / 8152B material. Each phosphor layer may be deposited or printed and may have a thickness of approximately 5000 angstroms. In an example, the conductive layer 1022 of the first ELD electrode assembly 1020 may include an aluminum coating or other conductive material and may have a thickness of, for example, approximately 5000 angstroms. In an example, the conductive layer 1033 of the second ELD electrode assembly 1030 may include an indium tin oxide (ITO) material or a conductive polymer, such as poly (3,4-ethylenedioxythiophene) (PEDOT). The conductive layer may therefore include a substantially translucent material and, in some examples, may have a thickness of approximately 2000 angstroms. Providing at least one conductive layer with a translucent or transparent material helps maximize the amount of light emitted from the system. In other examples, the conductive layer may be perforated or otherwise irregularly shaped so that the at least one conductive layer does not block light emitted from the phosphor layer. Figure 10E In the example of FIG, dielectric layers 1024 and 1031 may include a dielectric ink such as DuPont LuxPrint 8153. Dielectric layers 1024 and 1031 may have a thickness of approximately 32 microns. The various thickness information is provided as an example only, and other dimensions may be used similarly.

[0197] Figure 11 An example of assembling an electroadhesion system for an article of apparel is generally shown by packaging method 1100. Packaging method 1100 may include or use various elements of first clutch system 200, electroadhesion system 302, or second clutch system 400, or other systems or devices discussed herein.

[0198] At block 1102, packaging method 1100 may include assembling an electroadhesion clutch device for an electroadhesion clutch system. In an example, block 1102 may include assembling an elongated flexible housing forming a waterproof enclosure to house first and second electrode assemblies of the clutch device. Block 1102 may also include assembling or providing an electrical signal generator to provide first and second drive signals to the first and second electrode assemblies to actuate the clutch system.

[0199] In one example, an accelerometer can be placed within the housing. The accelerometer can be configured to measure motion of a body to which the electroadhesion clutch device is coupled, and an electrical signal generator configured to drive the electrode assembly can be configured to generate a drive signal based on the measured motion from the accelerometer. When the housing accelerates at a high rate, the accelerometer measures the rate, and the measured rate information can be sent to a processor to determine whether the rate meets a specified threshold indicating that the electroadhesion clutch should be activated. Based on a determination that the rate meets the threshold, the processor can then send instructions to the electrical signal generator to provide one or more signals to the electrode assembly of the electroadhesion clutch device.

[0200] At block 1104, the assembled electroadhesion clutch device can be inserted into a flexible housing, and the housing can provide a waterproof enclosure around the first and second electrode assemblies. An electrical signal generator can also be inserted into the flexible housing along with the first and second electrode assemblies, or signal leads can be coupled to or through a portion of the flexible housing. In an example, the housing can be attached to a textile material of an article of apparel at least at a first end of the housing. The housing allows the article of apparel to be selectively static (i.e., clutched) or flexible.

[0201] In an example, a first electrode assembly of the electroadhesive clutch within the housing can be substantially fixed relative to a first end of the housing, a second electrode assembly of the electroadhesive clutch can be fixed relative to a second end of the housing, and a middle portion of the housing can be configured to move relative to the first and second electrode assemblies.

[0202] At block 1106, the electroadhesive clutch in the flexible housing can be secured to the textile material. For example, the flexible housing can comprise the first strap of a dual-strap system for a sports bra. The flexible housing can be sewn, attached, embedded, or otherwise secured to the straps of the sports bra.

[0203] In an example, the electrical signal generator can provide a signal to the electroadhesion device. Continuing with the example given in block 1106, a sports bra can be worn by a wearer for running. The sports bra strap includes a flexible housing that houses the electroadhesion clutch device. Accelerometer 424 can measure the wearer's acceleration, and when the acceleration meets a threshold condition, the electrical signal generator can provide a signal to the electroadhesion device to open it, causing the overlapping portions of the first and second electrode assemblies to become stationary or fixed relative to each other. This static positioning or locking feature of the sports bra can prevent the wearer's body from accelerating and decelerating at painful or harmful rates.

[0204] In an example, the accelerometer can be configured to measure the magnitude of acceleration of at least a portion of the electroadhesion device or a body part to which the electroadhesion device is coupled. An electrical signal generator, such as signal generator 306, can be configured to generate a signal having amplitude and / or frequency characteristics based at least in part on the magnitude of the acceleration.

[0205] In one example, the effective elasticity or compliance of a textile or wearable article can be adjusted using a clutch system based on information about body motion. For example, if the wearer of the article accelerates at a high rate (e.g., while running), the measured wearer acceleration can be used to cause the clutch system (e.g., within or integrated with the article of apparel) to stiffen (e.g., remain or become stationary) by applying one or more specific signals to an electroadhesive clutch device. The stiffness or static nature of the article of apparel allows the article to support the wearer as the wearer performs movements.

[0206] Figure 12A and Figure 12B Simplified side profile examples 1200a, 1200b, respectively, of a thermal bonding interface between a portion of a clutch device (e.g., first conductive member 408) and a sealant example 1202 are included. It is noted and emphasized that examples 1200a, 1200b are simplified for illustrative purposes, and any and all components of the first clutch system 200, the second clutch system 400, or any clutch system disclosed herein may be similarly bonded. However, to provide clarity of the bonding between the first conductive member 408 and the sealant example 1202, other components have been omitted. Examples 1200a and 1200b differ in that, in example 1200a, the sealant example 1202 is disposed on a first major surface of the first conductive member 408 (e.g., only on the first major surface), while in example 1200b, the sealant example 1202 surrounds the first conductive member 408 and is in contact with the first major surface as well as an opposing second major surface.

[0207] Examples 1200a, 1200b are presented with respect to the perforated conductive member 910. However, it should be recognized and understood that any particular embodiment of the first conductive member 408, including but not limited to Figures 9A-9D All examples are contemplated, and the principles described with respect to the perforated conductive member 910 can be applied to any first conductive member 408. Furthermore, while the first conductive member 408 is presented for purposes of examples 1200a, 1200b, it should be recognized and understood that the same principles apply to the second conductive member 420 and any conductive member of any system or device described herein.

[0208] In examples 1200a, 1200b, the sealant example 1202 has been bonded to the first conductive member 408 by any suitable mechanism, such as heat staking, radio frequency or ultrasonic welding, or any other technique known in the art. The heating of the sealant example 1202 has caused the sealant example 1202 to flow into pores or openings, such as opening 1204, which may be formed in any one or more of the first conductive member 408, the dielectric member 410, the polymer substrate, or other components. While the presence of pores can promote bonding and a strong and resilient interface between the first conductive member 408 and the sealant example 1202, examples of the first conductive member 408 without pores can still provide a bond between the first conductive member 408 and the sealant example 1202. In some examples, a portion of the electrode assembly to be bonded does not include through-holes, but rather includes a rough or uneven surface configured to enhance adhesion-based coupling with an adjacent member.

[0209] Heating or otherwise applying energy to the first conductive member 408 and / or the sealant example 1202 can cause the materials of the first conductive member 408 and / or the sealant example 1202 to melt and flow together, thereby creating a bond area 1206. The bond area 1206 is an area where molecules of the conductive member 408 or 910 and the sealant example 1202 intermingle or mix with each other. After the conductive member 408 or 910 and the sealant example 1202 cool, a bond forms in the bond area 1206, tending to secure the sealant example 1202 to the conductive member, and vice versa.

[0210] The materials of the first conductive member 408 and the sealant example 1202 can be selected to be compatible with heating both materials so that a strong bond can be formed in the bond area 1206, e.g., without damaging or destroying the underlying integrity of the first conductive member 408 and the sealant example 1202. In an example, the first conductive member 408 near the bond area 1206 is formed of a polyester film. In an example, the sealant example 1202 is formed of a knitted textile having elastic fibers having a melting temperature below the glass transition temperature of the polyester film.

[0211] As discussed in detail herein, the first conductive member 408 and the second conductive member 420 are configured to slide laterally relative to each other. Thus, examples 1200a, 1200b illustrate the first conductive member 408 coupled to the sealant example 1202 at or near a first end of the sealant example 1202. In such examples, the second conductive member 420 can be coupled to the sealant example 1202 at or near a second end of the sealant example 1202, opposite the first end. As a result, the first and second conductive members 408, 420 are adapted to slide laterally along the interior of the middle portion of the housing including the sealant example 1202 when the movement of the conductive members is not inhibited by operation of the clutch 200, as described in detail herein.

[0212] By securing the sealant example 1202 to a wearable article, the resulting combined article, including the first conductive member 408 and the housing containing the sealant example 1202, can be incorporated into a wearable article or apparel disclosed herein. In various examples, the sealant example 1202 can be sewn, fastened, bonded, or otherwise secured to the wearable article without requiring such a mechanism to pass through a clutched conductive member, such as the first conductive member 408. Doing so can help maintain the structural integrity of the clutched conductive member and maintain the waterproof properties of the sealant example 1202. However, it should be recognized and understood that fastening techniques that contact the first conductive member 408, such as sewing, can be used without compromising the functionality of the clutched conductive member or the durability of the clutched device or system.

[0213] Figures 12C-12K An example of a method for attaching an electrode of a clutch device to a substrate or other conductor is generally shown, such as can be used to couple the electrode to a power source or controller. First, a heat-activated film (e.g., NASA-T from Sampo), for example having a thickness of about 200 μm, can be cut to match the exposed conductive portion of the electrode (e.g., comprising aluminum; Figure 12C AL), optionally with a projection of a specific depth or width (see Figure 12C ). The dielectric coated portion of the electrode (e.g., coated with a dielectric ink such as DuPont LuxPrint 8153) can be adjacent to the exposed conductive portion of the electrode. Next, the ends of the multi-wire conductor (e.g., 28AWG) can be flared or fanned ( Figure 12D The ends can be cut to a length that is approximately the same as the depth of the exposed portion of the conductor. The fan-shaped wire can then be placed on the exposed conductive portion (e.g. Figure 12C The insulation of the wires may be provided at or near the edge of the polyester film (see Figure 12E ), in order to minimize the thickness or volume of the component.

[0214] Next, the liner or backing can be removed from one side of each of the two strips of heat activated film. The strips can be used to attach multiple conductors and polyester film by sandwiching the conductors and polyester film in between (see Figure 12F , showing the strips spaced apart from the conductor / mylar assembly, such as before attachment). Next, strips of masking or protective material (e.g., masking tape or other non-permanent adhesive material) may be applied to the edges of the film and to both sides of the conductor to temporarily hold the assembly in place for further processing (see Figure 12G , showing the tape strips in place on the assembly).

[0215] Next, the assembly can be aligned or adjusted to fit within the edges of the opposing plates of the double-sided heat press. Figure 12H In the example shown, the plates of the hot press are shown as blocks labeled "hot." Each side of the press platens can be covered with a release agent (e.g., parchment paper, etc.). The conductors can pass between the release agents and not contact the platens, and the dielectric (e.g., ink-coated) portions of the electrode assembly can optionally be positioned outside the platen area. Next, the press can be used to secure the membrane and conductor in place, e.g., so that the wires in the conductor are in electrical contact with the conductive portions of the electrode. The press can be adjusted or optimized to ensure the best bond (e.g., set to heat at about 190 degrees Fahrenheit for about 6 seconds at a pressure of about 6 PSI). After the pressing cycle, the masking agent and release agent can be removed or cut ( Figure 12I ).

[0216] Next, a polymer webbing (e.g., stretchable or non-stretchable) can be provided, for example, having a uniform weave or comprising a non-woven material. The webbing can have a width of approximately W / 2, or half the width of the electrode assembly. In an example, the webbing can be cut to a length of approximately 6D, such that the folded portion can have a width of approximately 3D ( Figure 12J ). Next, tape or other adhesive may be used to hold the webbing in place against the mylar, with the conductor portion disposed between the two webbings ( Figure 12K ). Next, the assembly can be aligned in a hot press with a release agent and heated again (e.g., at about 6 PSI and about 240 degrees Fahrenheit for about 11 seconds). After hot pressing, the assembly can be removed, the tape or other release agent can be removed, and the assembly can be trimmed to the desired size or any excess material removed. Next, the sensor can be optionally attached and can be optionally hot pressed to secure it to the assembly. Other means for coupling the sensor can be used. The sensor can include, for example, a stretch sensor or other sensor configured to measure the displacement of the electrode assembly or webbing. Another sensor or another portion of the same sensor can be similarly attached to the oppositely oriented electrode to provide a complete electrode assembly for clutching.

[0217] Figure 13A There is generally shown an apparel example 1300. A female front view of support garment 1302 is shown with a left front view of a left shell 1304, a right front view of a right shell 1306, a left anchor point 1308, a right anchor point 1310, a right cup 1312, and a left cup 1314.

[0218] Apparel example 1300 is an example of a support garment for a wearer having a textile layer forming a support region that is configured to adjustably inhibit displacement of a wearer's body part located proximate the support region. Apparel example 1300 may also include a hollow strap secured to a portion of the textile layer. The hollow strap encloses an electroadhesion clutch device having a first electrode assembly and a second electrode assembly. The first and second electrode assemblies at least partially overlap and are configured to slide laterally relative to one another. Apparel example 1300 may also include an electrical signal generator, such as signal generator 110, to provide one or more signals to the first and second electrode assemblies, and the electroadhesion clutch device may be configured to selectively adjust the amount that apparel example 1300 permits displacement of a body part proximate the support region.

[0219] The apparel example 1300 is a sports bra, and the support areas are the right cup 1312 and the left cup 1314 of the sports bra. The hollow straps, called the left shell and the right shell, are Figure 13A , a front view of a left shell 1304 and a front view of a right shell 1306 are shown. Each hollow strap can be individually addressed or controlled by a controller (e.g., by control circuit 112) to selectively adjust the absolute or relative amount of displacement that the support garment allows for a body part. For example, if the wearer has a larger left breast, left shell 1304 can provide a different level of support than right shell 1306 provides for the right breast.

[0220] Figure 13B A rear view of apparel example 1300 is shown. A rear view of support garment 1320 shows a rear view of left shell 1316 and a rear view of right shell 1318. The support garment can include a garment control unit 1322 embedded within or coupled to the support garment. Garment control unit 1322 can include a system or processor configured to control clutch actuation.

[0221] The support garment may further include a signal generator configured to provide one or more electrical signals to the first and second electrode assemblies. The signal generator may be affixed to the garment example 1300, such as within the garment control unit 1322. Alternatively and / or in addition, the signal generator may be embedded within the housing along with the first and second electrode assemblies.

[0222] The support garment is configured to inhibit displacement of the wearer's body part when the wearer or the wearer's body part is measured at an acceleration rate above a threshold. The support garment is configured to relax or allow the support garment to flex.

[0223] In some embodiments, the support garment is an athletic support having a right hollow strap secured to the right side of a textile layer forming a support area (e.g., a flexible housing for an electroadhesive clutch device) and a left hollow strap secured to the left side of the textile layer forming the support area. The left and right hollow straps work in conjunction to selectively prevent or allow movement of corresponding body parts of the wearer.

[0224] While the illustrated embodiments include female support garments, other garments are contemplated herein, including joint braces (e.g., knee braces), athletic supports, athletic belts, shin guards, soccer pads, weightlifting support belts, athletic shoes for various sports (e.g., golf, mountain biking, skiing, mountaineering), and other suitable garments having support features for the wearer. Furthermore, other garments, including underwear, vests, socks, sleeves, protective gear (e.g., helmets, pads, shields), are also contemplated and within the scope of the solutions discussed herein.

[0225] In some embodiments, the electroadhesive clutch device may include part of a modular apparel system. For example, a support garment (or other garment or apparel item) may be configured to optionally include or use an electroadhesive clutch device or other type of clutch device or one or more other systems or devices. In an example, the clutch device may include a modular attachment mechanism disposed on the front, side, or back of the garment. For example, the device may be configured to attach to the front of the support garment, such as between the breasts, or may be configured to attach to the back of the support garment, such as between the shoulder blades. The modular nature of the system may provide different levels or types of control or support to the user (e.g., as described in reference to FIG. Figures 13A-13B As described above), for example, there is no need to integrate the active device with the garment (e.g., such as sewn in or otherwise permanently affixed during manufacture). In an example, a garment having a support for modular attachment for clutching may also include one or more straps, or hollow conduits through which the straps may pass, to selectively couple the garment to provide a device as described with reference to Figures 13A-13B In some embodiments, the support garment may include a male athletic support configured to include or utilize a modular clutch device.

[0226] Figure 13CAn example of a garment control unit 1322 is shown. This example shows a rear view of left housing 1316 and a rear view of right housing 1318. Garment control unit 1322 can be a modular device configured for attachment to support garment 1302 and can include an electroadhesive clutch device. The electroadhesive clutch device can be disposed within right housing 1318, left housing 1316, and / or positioned near control unit base 1336.

[0227] The garment control unit 1322 may include a left strap 1324 and a right strap 1326, which may include, for example, an adjustment strap, an electroadhesive clutch, or one or more sensors. The straps 1324 and 1326 may be physically coupled to a base 1336 and may be attached to the support garment 1320 via various attachment mechanisms 1338, 1340, 1342, 1344, 1346, and 1348. The attachment mechanisms may include O-rings, D-rings, hook and loop fasteners, zippers, snaps, sewing, or any other type of suitable attachment mechanism for coupling the garment control unit 1322 to a portion of the support garment. In an example, the garment control unit 1322 is coupled to the support garment and / or to a subcomponent of the support garment via a right connector 1332 and / or a left connector 1334. The right connector 1332 and the left connector 1334 may be used to attach additional modular units, including sensors, such as accelerometers, gyroscopes, GPS, heart rate monitors, EKG monitors, or other sensors. In Figure 13C In the example of FIG, garment control unit 1322 includes a controller 1350, which may include control circuit 112, or may include processor circuit 304, or may include another dedicated controller to selectively actuate the electroadhesion clutch device.

[0228] In some embodiments, the garment control unit 1322 can be placed at a location on the front of the support garment, such as between the breasts, or at a location on the back of the support garment, such as between the shoulder blades. The modular unit can help provide dynamic support to the user's body as described herein, for example, without being integrated with or permanently affixed to the support garment (e.g., sewn into or otherwise permanently affixed). The modular unit can include one or more hollow straps (e.g., right hollow strap 1326 and left hollow strap 1324) to selectively couple to the support garment to provide the support described herein. Figures 13A-13B The functions described.

[0229] The clutch device or system or modular components thereof may be provided for use with a variety of other support garments, such as for female or male use. Figure 13DA front view of a first male support garment 1350 is generally shown. Male support garment 1350 includes a left leg portion 1352, a right leg portion 1354, a cup portion 1356, and a waistband portion 1358. Male support garment 1350 may include a clutch system to selectively constrict or loosen various areas of the garment, including around the waist, legs, or crotch. Figure 13E An example of a second male support garment 1360, or crotch jockstrap, is generally shown. In some examples, first and second male support garments 1350 and 1360 can be used together.

[0230] An example of a second male support garment 1360 includes a waist belt 1364, a cup portion 1366, a left leg strap 1368 having a left hollow strap 1370, and a right leg strap 1372 having a right hollow strap 1374. In an example, the second male support garment 1360 may include garment control circuitry 1362 coupled to the waist belt 1364. The cup portion 1366 may include various textile layers and a corresponding housing (e.g., a plastic cup) to provide support and protection for the wearer's penis and testicles.

[0231] exist Figure 13E In an example of the second male support garment 1360, the hollow straps (e.g., left hollow strap 1370 and right hollow strap 1374) can be coupled to or embedded in the textile layer of the left leg strap 1368 or the right leg strap 1372. In some embodiments, the hollow straps, which may, for example, include a flexible housing or tube for an electroadhesive clutch device, can be secured to the leg straps and may include one or more clutch electrode assemblies. The electrode assembly can be selectively energized or de-energized to selectively inhibit or allow displacement of the cup-shaped portion 1366. The example of the second male support garment 1360 can further include an electrical signal generator, such as signal generator 110, to provide one or more signals to the electrode assembly. In some embodiments, the clutches provided in the right hollow strap 1370 and the left hollow strap 1374 are configured to work independently to provide a unique fit, or can be configured to work in conjunction to selectively inhibit or allow displacement in a coordinated manner.

[0232] Figure 14 An example of a support garment assembly and method of use 1400 is generally shown. The support garment may include or use various elements of first clutching system 200, electroadhesion system 302, or second clutching system 400, or other systems or devices discussed herein.

[0233] At block 1402, a support garment assembly and method of use 1400 includes forming a textile layer for a support garment, for example, having a support region. The support garment can be a sports bra, an athletic brace, or another support garment having a support region. The support region can be a cup of a sports bra or an athletic brace. The support region can have a defined area molded into a specific shape, or can be an area made of a flexible or compliant material.

[0234] At block 1404, the support garment assembly and method of use 1400 includes forming a hollow strap that encapsulates an electroadhesive clutch. The hollow strap may be formed by Figure 11 The flexible package produced by the packaging method 1100 in the example. In an example, the hollow strap can include first and second electrode assemblies.

[0235] At block 1406, the support garment assembly and method of use 1400 may include securing the textile layer and the hollow strap together. The textile layer (e.g., having a support region) may be coupled to the hollow strap to provide selective support to a body portion in contact with the support region. The strap is contemplated to be within close proximity of the support region to provide maximum support capability.

[0236] At block 1408, the support garment assembly and method of use 1400 may include providing a signal to the electroadhesion device. This signal may come from an electrical signal generator, indicating that the electroadhesion device is to engage, causing the support garment to maintain its shape. For example, when a user wears a sports bra, the material may have been pre-selected to provide a snug fit to the wearer. However, when the user runs, the material may stretch and move around, thereby ceasing to provide the adequate support that would otherwise be provided by a snug fit. The intended support garment provides a mechanism to limit the material's stretching and bending, providing the user with the snug support initially intended.

[0237] Figure 15 An example of a first graph 1500 is included. First graph 1500 includes a first position signal 1502 and a first acceleration signal 1504. First position signal 1502 represents the strain experienced by a runner's connective breast tissue over time. First position signal 1502 is based on the displacement of breast tissue of the same runner over the same time period. In other words, first graph 1500 illustrates the relationship between the changing position of breast tissue relative to the runner's core or torso during running and the corresponding vertical acceleration of the runner's core or torso.

[0238] The present inventors have recognized that strain on the Cooper's ligaments in breast tissue can be painful or uncomfortable, particularly during repetitive motion, such as during running. Figure 15In the example shown in FIG1 , it can be observed that there is a spike in the first position signal 1502, indicating significant strain on the ligament. The timing of the maximum strain generally corresponds to the inflection point of the first acceleration signal 1504, which may represent the lower limit of tissue travel, such as a rapid change in the direction of trunk movement.

[0239] For example, when a person runs, the natural rhythm of the running motion causes the breast tissue to move up and down. This motion is repeated with each step. This repetitive bouncing action can strain ligaments, particularly Cooper's ligaments, and can lead to long-term damage and pain. Furthermore, over time, repetitive strain on the ligaments can cause breast sagging.

[0240] Figure 16 An example of a second graph 1600 is shown, illustrating the performance of a support garment according to some embodiments. Second graph 1600 includes a second acceleration signal 1604, a second position signal 1602, and a clutch control signal 1606. In this example, second acceleration signal 1604 generally corresponds to first acceleration signal 1504 and may, for example, represent a change in torso position during running. Clutch control signal 1606 may represent the actuation of a clutch system, such as a clutch system for a bra, such as for example apparel example 1300. The runner represented by second position signal 1602 may be wearing the bra from apparel example 1300.

[0241] exist Figure 16 In the example, with Figure 15 Compared to first position signal 1502, second position signal 1602 indicates reduced strain. The reduction in strain can be attributed to the use of a system including an electroadhesion device having at least two electrode assemblies configured to engage and release. Such an electroadhesion clutch system can be embedded in an article of apparel, such as apparel example 1300. The article of apparel can selectively engage and release to reduce strain on the ligament in coordination with the wearer's movements.

[0242] For example, a runner can wear a supportive sports bra with an electroadhesion system embedded in the bra. When the system recognizes that the person is running, it sends a signal to the electroadhesion clutch to activate and deactivate at intervals corresponding to the person's running speed. During upward and / or downward acceleration, the clutch can be activated to statically hold the article of clothing in a stable, non-elastic position. The electroadhesion clutch provides support for the person in motion. When the system recognizes that the person is no longer running, it signals the electroadhesion clutch to deactivate or enter a sleep state, allowing the garment to return to a flexible, compliant, or relaxed state.

[0243] Figure 1717. An embodiment of the present invention includes an electroadhesion system configured for footwear according to some embodiments. In an example, article of footwear 1702 includes base 1704 and shoelace 1706. In some embodiments, base 1704 is made of a knitted material for maximum comfort and flexibility. In some embodiments, shoelace 1706 includes an electroadhesion system (e.g., electroadhesion system 302) that allows the shoelace to be selectively fixed, stationary, or rigid. In an example, shoe 1702 can be worn as a casual, fashionable shoe option while still having the support elements provided by the selective support system of the electroadhesion system.

[0244] For example, a slip-on athletic shoe that is comfortable for casual wear but also comfortable for running allows the wearer to wear one pair of athletic shoes for multiple purposes. Figure 17 As shown, shoe 1702 includes a strap portion that covers an upper portion of shoe 1702. The strap may include a mechanical adhesion system as well as an electroadhesion system for securing the strap to the shoe and further providing support, such as by rigidly enveloping the foot during a portion of the stride cycle and loosening the grip during another portion of the stride cycle, as the wearer runs.

[0245] Shoe 1702 can be configured to support multiple activity modes, including sports mode, relaxation mode, or dynamic mode. The shoe can adjust the level or timing of clutch actuation based on sensed input (e.g., from the movement of the foot inside the shoe, from accelerometer readings, or other suitable sensors). Sports mode can provide the wearer with the highest level of support to protect the wearer from inharmonious contact with the ground. When the user is not in a highly active state, cooling mode can provide a relaxing fit. Dynamic mode can provide a mixed fit between sports mode and cooling mode. In some embodiments, each mode can be manually selected based on input from the wearer. In some embodiments, each mode is automatically configured by the footwear or by another sensor in or coupled to the electroadhesion system. Other apparel items may include electroadhesion systems that can be similarly configured to include or use different activity modes.

[0246] In an example, the movement of the shoe 1702 can be sensed from the clutch system itself, such as by monitoring the relative movement of electrodes, or from a motion sensor such as an accelerometer. The motion information can be used to selectively actuate the clutch system for foot support.

[0247] Figure 18AAn article of clothing according to some embodiments, such as a first cooling jacket 1800a, includes one or more holes coupled to an electroadhesion clutch system. First cooling jacket 1800a may include one or more holes, such as a first hole 1802 and a second hole 1804. Each of first hole 1802 and second hole 1804 may include or utilize an electroadhesion system. For example, opposing sides of the holes may include corresponding electrodes of the clutch system. When the electrodes are actuated, the holes can be selectively opened or closed. In other words, the electrodes may be coupled or integrated with corresponding portions of cooling jacket 1800 located on opposing sides of the holes, such that the electrodes can be used to open or close the holes.

[0248] As shown in first aperture 1802, first orthogonal clutch device 1806 and second orthogonal clutch device 1808 can be positioned adjacent to the opening provided by first aperture 1802. In some embodiments, a single orthogonal device or multiple orthogonal devices can be used, depending on the size of the aperture. Each orthogonal device can include an electroadhesion system, such as electroadhesion system 302. Each device can be embedded or coupled to the textile or other material of first cooling outerwear 1800a for functional and / or aesthetic purposes, or can be placed on top of a top layer of an article of apparel.

[0249] As shown in the example of second hole 1804, first parallel clutch device 1810 and second parallel clutch device 1812 can be positioned adjacent the opening provided by second hole 1804. First parallel clutch device 1810 and second parallel clutch device 1812 can be parallel to each other and to the longitudinal direction of second hole 1804.

[0250] Figure 18B 1800b, according to some embodiments. Figure 18B In the illustrated example, first and second side apertures 1822 and 1828 can extend from their respective underarm regions toward the torso region of cooling jacket 1800b. On a first side of the jacket, oppositely oriented or orthogonal electrodes 1824 and 1826 of a clutch device can be positioned near the opening provided by first side aperture 1822. On a second side of the jacket, parallel electrodes 1830 and 1832 can be positioned near the opening provided by second side aperture 1828. Additional apertures, such as torso apertures 1834 and 1838, can be provided with corresponding electrodes of corresponding clutch devices 1836 and 1840. The electrodes of the clutch devices adjacent to or proximate to the apertures can be configured to selectively open or close the apertures, thereby allowing or preventing airflow through the apertures and, thus, through the article of clothing to the wearer. Control components for the various clutch devices or electrodes can be located anywhere on cooling jacket 1800b and are not shown in the illustrated example. Conductors that control the behavior of the electrodes can pass through or be adjacent to the textile or other material comprising the jacket.

[0251] Figure 18C 1800c, according to some embodiments. Figure 18C In the example shown, a side hole 1816 is formed through the back of the cooling jacket 1800 at the upper back of the jacket. One or more clutching devices can be coupled near the hole. In the example shown, a plurality of upper electrodes 1814 of the one or more clutching devices can be positioned perpendicular to the side hole 1816, and a plurality of lower electrodes 1818 of the one or more clutching devices can be positioned perpendicular to the side hole 1816. The paired upper and lower electrodes can be configured to clutch in a coordinated and / or independent manner.

[0252] In an example, third cooling jacket 1800c includes an embedded temperature sensor, such as temperature sensor 130, to determine the wearer's temperature. When the wearer's temperature is below a specified threshold temperature, various upper and lower electrodes may be energized to close side apertures 1816 or portions thereof. When the wearer's temperature is above the specified threshold temperature, the upper and lower electrodes may be deenergized to allow the textile material to relax and allow more air to flow through side apertures 1816 to the wearer.

[0253] In some embodiments, the third cooling jacket 1800c includes a flap 1820 to cover the side hole 1816. The flap 1820 can include a manual fastening mechanism to physically couple the flap to the hole. Some articles of apparel can include more than one hole and a corresponding flap or clutch for each hole.

[0254] Figure 18D 1800d, according to some embodiments. Figure 18D In the example of , the side aperture 1842 extends through the back side of the cooling jacket 1800 at the lower back portion. A clutch may be provided to selectively open and close the side aperture 1842. For example, the clutch may include an upper clutch electrode 1844 positioned along a first side of the side aperture 1842, and may include a lower clutch electrode 1846 positioned along an opposing second side of the side aperture 1842. In other words, the electrodes may include an elongated electrode disposed substantially parallel to the side aperture 1842. The upper and lower clutch electrodes 1844 and 1846 may be selectively energized to close the aperture 1842, or de-energized to open the aperture 1842. The example of the fourth cooling jacket 1800d may include a flap 1848 for covering the clutch. In examples, a combination of orthogonal and parallel placement of electrodes may be used. Other orientations, including acute and obtuse angle positioning relative to the aperture, may similarly be used. Although Figures 18A-18D The examples are presented as different cooling jackets, but the various features of the cooling jackets can be used together or in various permutations and combinations.

[0255] Figure 18EFigure 1850 illustrates an example of an article of apparel, such as a pair of cooling pants 1851, according to some embodiments. The article of apparel may be a lower body garment, such as a pair of leggings or pants 1851. The leggings or pants 1851 may include leg panels with holes. Sides or portions of the holes may be coupled to electrodes of one or more electroadhesive clutch devices to selectively open or close the holes in the leggings or pants. Possible locations for the holes include the inner thigh region 1854 or the outer thigh region 1852.

[0256] like Figure 18F As shown, cooling pants 1851 may include panels with holes behind the knee region 1858 and / or at the ankle region 1856. The holes may be provided at any other location on the pants, such as corresponding to areas of the body that typically generate a lot of body heat or perspiration. Figure 18G As shown, cooling pants 1851 may include slits at the textile seams or pockets and may include a mesh layer at or below the holes to provide a flexible, breathable, yet continuous article of apparel, as shown by the mesh layer at hole 1860.

[0257] The clutch device or clutch system in the clothing article discussed herein can be configured to operate in a manner that causes the clutch electrodes to attract each other, or can be configured to disengage or relax. In an example, other features can be included so that the clutch electrodes or the clothing portion including the electrodes can repel each other. That is, the clutch electrode can include a portion of a hole control mechanism that can be configured to open a hole (such as a slit or pocket) to provide selective ventilation of body heat or help perspiration. An optional mechanical device (such as an elastic device) can be used to bias the hole to achieve a normally open or normally closed configuration in the absence of an electrical signal actuation.

[0258] Figure 19 Generally shown is an example of a ventilating method 1900. Ventilating method 1900 may include or use various elements of first clutching system 200, electroadhesion system 302, or second clutching system 400, or other systems or devices discussed herein, for example, to selectively ventilate an article of apparel.

[0259] At block 1902, ventilation method 1900 may include sensing an item state or a body state. Block 1902 may include, for example, sensing information about a wearable item or about a body near or wearing the item using one of sensors 120. In an example, block 1902 may include sensing information about the movement of the wearable item, or information about the temperature or moisture content of the wearable item. In an example, block 1902 may include sensing information about the activity level of a wearer of the item or the temperature of the wearer of the item.

[0260] At block 1904, ventilation method 1900 may include comparing status information, such as status information about an item or a body, to a specified threshold condition. For example, block 1904 may include comparing the body temperature information obtained at block 1902 to a threshold body temperature. In another example, block 1904 may include comparing the motion information obtained at block 1902 to a threshold motion condition.

[0261] At block 1906 , ventilation method 1900 may include selectively actuating a clutch to ventilate the article of apparel. For example, block 1906 may include actuating one or more clutches in cooling outerwear 1800 based on the article state or body state information sensed at block 1902 .

[0262] In an example, ventilation method 1900 can be applied to a variety of different articles, including but not limited to shorts, leggings, pants, athletic pads, sweatpants, or other articles of apparel with ventilation systems. In an example, ventilation method 1900 can include, for example, coordinating ventilation between multiple different articles or devices based on one or more inputs. For example, vents on a jacket and vents on pants can be activated together, for example, in response to the same information from a body temperature sensor. Articles of apparel that can include or utilize ventilation systems include, but are not limited to, but include, articles of apparel configured to be worn on high-temperature areas of the body, including the armpits, chest, and back, or on parts of the body that are prone to sweating.

[0263] Figure 20A and Figure 20B An example 2000 of a hat 2002 is shown in relaxed and extended configurations, respectively. Figure 20C is a detailed side cross-sectional view of a portion of hat 2002 to illustrate the positioning of first clutch system 200 relative to the remainder of hat 2002. Although first clutch system 200 is described, it should be appreciated that any of the clutch systems described herein may additionally or alternatively be incorporated.

[0264] Hat 2002 is formed from a textile 2004, such as a knit, woven, canvas, or other fabric or material suitable for use as a hat. Textile 2004 and hat 2002 more generally define an opening 2006 sized to accommodate and cover the top of a wearer's head. Because first clutch system 200 is secured adjacent to the opening (inconspicuously), the wearer's ability to increase the size of opening 2006 may be limited. The first clutch system can be sewn, fastened, or otherwise secured to textile 2004 such that operation of first clutch system 200, as disclosed herein, inhibits stretching of textile 2004, as disclosed herein.

[0265] The first clutch system 200 is shown as extending around some, but not all, of the circumference of the opening 2006. However, it should be appreciated and understood that the first clutch system 200 can extend around the entire circumference of the opening 2006. Furthermore, while only one first clutch system 200 is shown, it should be appreciated and understood that multiple first clutch systems 200 can be included in the hat 2002. Additional first clutch assemblies 200 can surround other portions of the opening 2006 or can be positioned at other locations around the hat 2002 to selectively inhibit elasticity or stretchability at those locations, consistent with the principles disclosed herein.

[0266] Textile 2004 may be elastic or capable of stretching in one or more dimensions, allowing the size of opening 2006 to increase from a first width 2008 to a second width 2010 that is larger than first width 2008. It should be noted that for purposes of illustration, only two widths are shown, but it should be appreciated and understood that the width of opening 2006 can be increased or decreased within a range of widths up to the ability of textile 2004 to stretch without breaking. Therefore, first width 2008 and second width 2010 are for purposes of illustration and not limitation.

[0267] The operation of the first clutch system 200 inhibits the wearer's ability to increase the size of the opening 2006 from the first width 2008 to the second width 2010. For example, when the processor circuit 304 causes the signal generator 306 to energize the first and second electrode assemblies 202, 208, the first clutch system 200 is inhibited from expanding, and thus, the opening 2006 cannot increase from the first width 2008 to the second width 2010. Note that due to the operation of the first clutch system 200, the hat 2002 may not be inhibited from relaxing back to the first width 2008 from the second width 2010 when the signal generator 306 energizes the first and second electrode assemblies 202, 208. Thus, the first clutch system 200 can be configured to set a maximum width for the opening 2006, but not necessarily a minimum width for the opening 2006.

[0268] like Figure 20C As shown, textile 2004 of hat 2002 can form a cavity 2012 in which first clutch system 200 or one or more components thereof are located. Alternatively, first clutch system 200 can be secured to a side of textile 2004, or can be secured between layers of textile 2004, or according to any suitable configuration or mechanism.

[0269] The first clutch system 200 can operate according to the same control system described herein. Thus, one or more sensors can detect the orientation or use of the hat 2002 and engage or disengage the first clutch system 200 based on the use environment of the hat 2002.

[0270] Figures 21A-21C In an exemplary embodiment, the first clutch system 200 is shown incorporated into a sleeve 2102. While the sleeve 2102 is presented as a single wearable article, the principles disclosed herein can be applied to any wearable article incorporating sleeves or other holes or openings, such as neck, waist, or arm holes in a shirt or jacket, waist, ankle, or other leg openings in pants, or any other suitable wearable article. Sleeve 2102 is provided to illustrate the operation of a system having multiple first clutch systems 200A, 200B operating together. Sleeve 2102 can be formed from a textile or other elastic or stretchable material and is formed into a generally tubular shape having an opening 2106 at a first end 2108 and a second end 2110 opposite the first end.

[0271] The sleeve 2102 includes a first example clutch system 2116 and a second example clutch system 2118 located around the opening 2106 near the first end 2108 and the second end 2110, respectively. The first example clutch system 2116 and the second example clutch system 2118 can be independently controlled to allow the opening 2106 near the first end 2108 and the second end 2110 to expand or not expand independently in the same manner as the opening 2006 of the hat 2002. Therefore, the sleeve 2102 can have a first width 2112 or a second width 2114 at either or both of the first end 2108 and the second end 2110. Therefore, as Figure 21B As shown, if the first example clutch system 2116 is activated and the second example clutch system 2118 is deactivated, the opening 2106 near the first end 2108 remains at the first width 2112, while the opening 2106 near the second end 2110 is allowed to expand to the second width 2114. If the first example clutch system 2116 is deactivated, the opening 2106 near the first end 2108 is also allowed to expand to the second width 2114, as shown in FIG. Figure 21C shown. Figure 21A The sleeve 2102 is shown in a relaxed state, with the opening 2106 at a first width 2112 proximate the first and second ends.

[0272] Figure 22A and Figure 22B An example of apparel 2202 is generally shown including a pocket assembly 2204 having a pocket opening 2206 that may be controlled by an electroadhesive clutch device or pocket clutch. Figure 22A A top view of garment example 2202 is generally shown. Figure 22B A view of the pocket assembly 2204 is generally shown in a partially open configuration. Figure 22B In the example of , portions of the clutch are visible, and the clutch can control access to interior portions of the pocket assembly 2204.

[0273] exist Figure 22B In an example of , the pocket assembly 2204 is partially open with the pocket edge 2216 distal from the garment fabric 2214 or base of the pocket assembly 2204. When the pocket assembly 2204 is open, objects can be easily inserted into or removed from the interior area 2208 of the pocket assembly 2204. The pocket assembly 2204 can include an external clutch electrode 2210 disposed adjacent the pocket edge 2216, and the pocket assembly 2204 can include an internal clutch electrode 2212 disposed at or on the garment fabric 2214. When the pocket assembly 2204 is closed, the external clutch electrode 2210 and the internal clutch electrode 2212 can be substantially aligned and adjacent to each other, e.g., due to mechanical or elastic biasing or due to actuation of electroadhesive forces between the electrodes. For example, in Figure 22A In the top view of the garment example 2202, the electrodes may be partially hidden by the textile or fabric of the garment example 2202 when the pocket assembly 2204 is closed.

[0274] In one example, the aperture control mechanism can be configured to operate so that the areas of the textile corresponding to the engaged electrodes repel each other, thereby opening an aperture (e.g., a slit or pocket). A mechanical device, such as a spring, can be used to bias the aperture toward an open or closed configuration, such that when in a repulsive mode, the aperture can assume the opposite configuration. In one embodiment, the pocket assembly 2204, for example, including an outer clutch electrode 2210 and an inner clutch electrode 2212 containing a clutch at the pocket opening, can be biased toward an open or relaxed pocket configuration, and can optionally include the use of a mechanical device, such as a spring. When the pocket's engaged electrodes are energized using an attractive signal (e.g., a signal of opposite polarity), the pocket opening 2206 of the pocket assembly 2204 can be effectively sealed closed. That is, when powered, a user would have to overcome the electrostatic force generated between the electrodes in order to insert or remove an object from the pocket's interior region 2208. When the pocket's aperture control mechanism is configured for repulsion, the pocket opening 2206 of the pocket assembly 2204 can be forced into an open configuration.

[0275] In an example, the pocket clutch may include or utilize first clutch system 200, or may include a portion or component thereof of adaptive support system 100. The pocket clutch, which may control access to interior region 2208 of pocket assembly 2204 through an aperture, may optionally be automatically controlled using information from sensors, such as one or more sensors 120 included in the example of adaptive support system 100. For example, the pocket clutch may be actuated to seal or close the pocket when accelerometer 124 detects motion (e.g., motion that meets or exceeds a specified activity level threshold) or detects a particular orientation (e.g., an orientation or position that may cause an object within the pocket to fall out, such as an upside-down or inverted orientation).

[0276] In an example, under certain orientation or motion conditions, or in response to a user command, the pocket clutch can be actuated to release the pocket assembly 2204. Thus, the aperture or pocket opening 2206 can help prevent theft by selectively locking access unless or until the user allows access through an appropriate control or command. In an example, the user can control pocket access or clutch behavior using a gesture-based lock or unlock command, and the gesture command can be detected using one or more sensors 120.

[0277] In an example, the pocket clutch may include an exposed (or nearly exposed or partially exposed) electrode portion that is configured to be selectively energized. The exposed electrode may optionally include a portion of one of the external clutch electrode 2210 or internal clutch electrode 2212 at or near the clutch at the aperture, such as at the pocket edge 2216, or on the outward-facing surface of the apparel fabric 2214 at or near the pocket opening 2206, or may include a separate electrode. The exposed electrode may be configured to deliver a deterrent shock when touched. For example, when the pocket clutch is activated to hold the pocket assembly 2204 in a closed configuration, the exposed electrode portion may increase or enhance theft deterrence by delivering an electric shock to an unsuspecting pickpocket's hand. The exposed electrode portion may be discharged by the user, or may be automatically discharged based on, for example, a specified sensor signal to allow pocket entry. In an example, a deterrent shock circuit may be provided to drive the exposed electrode. The circuit may include a power supply, a capacitor, and an optional transformer, such as one that may be configured to generate a relatively large voltage with a small current.

[0278] Figure 232300 within a machine 2300 within which instructions 2308 (e.g., software, programs, applications, applet, app, or other executable code) may be executed for causing the machine 2300 to perform any one or more of the methods discussed herein. For example, the instructions 2308 may cause the machine 2300 to perform any one or more of the methods described herein, such as controlling a clutch system. The instructions 2308 convert the general, unprogrammed machine 2300 into a specific machine 2300 that is programmed to perform the functions described and illustrated in the manner described. The machine 2300 may operate as a standalone device or may be coupled (e.g., networked) to other machines, for example, to coordinate the action or actuation of multiple different clutch devices or clutch systems. In a networked deployment, the machine 2300 may operate as a server machine or a client machine in a server-client network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The machine 2300 may include, but is not limited to, a server computer, a client computer, a personal computer (PC), a tablet computer, a laptop computer, a netbook, a set-top box (STB), a PDA, an entertainment media system, a cellular phone, a smart phone, a mobile device, a wearable device (e.g., a smart watch), a smart home device (e.g., a smart appliance), other smart devices, web appliances, a network router, a network switch, a network bridge, or any machine capable of executing instructions 2308, sequentially or otherwise, that specify actions to be taken by the machine 2300. Furthermore, while only a single machine 2300 is shown, the term "machine" should also be construed to include a collection of machines that individually or jointly execute instructions 2308 to perform any one or more of the methodologies discussed herein.

[0279] The machine 2300 may include a processor 2302, a memory 2304, and an I / O component 2342, which may be configured to communicate with each other via a bus 2344. In an example embodiment, the processor 2302 (e.g., a central processing unit (CPU), a reduced instruction set computing (RISC) processor, a complex instruction set computing (CISC) processor, a graphics processing unit (GPU), a digital signal processor (DSP), an ASIC, a radio frequency integrated circuit (RFIC), another processor, or any suitable combination thereof) may include, for example, a processor 2306 that executes instructions 2308 and a processor 2310. The term "processor" is intended to include multi-core processors, which may include two or more independent processors (sometimes referred to as "cores") that can execute instructions concurrently. Although Figure 23 Multiple processors 2302 are shown, but the machine 2300 may include a single processor with a single core, a single processor with multiple cores (e.g., a multi-core processor), multiple processors with a single core, multiple processors with multiple cores, or any combination thereof.

[0280] The memory 2304 includes a main memory 2312, a static memory 2314, and a storage unit 2316, which are accessible to the processor 2302 via a bus 2344. The main memory 2304, the static memory 2314, and the storage unit 2316 store instructions 2308, which embody any one or more of the methods or functionality described herein. During execution of the instructions 2308 by the machine 2300, the instructions 2308 may also reside, completely or partially, within the main memory 2312, within the static memory 2314, within the machine-readable medium 2318 within the storage unit 2316, within at least one processor 2302 (e.g., within a processor's cache), or any suitable combination thereof.

[0281] I / O components 2342 may include a variety of components to receive input, provide output, generate output, transmit information, exchange information, capture measurements, etc. The specific I / O components 2342 included in a particular machine will depend on the type of machine. For example, a portable machine such as a mobile phone may include a touch input device or other such input mechanism, while a headless server machine may not include such a touch input device. It should be understood that I / O components 2342 may include Figure 23 23. In various exemplary embodiments, the I / O components 2342 may include an output component 2328 and an input component 2330. The output component 2328 may include a visual component (e.g., a display such as a plasma display panel (PDP), a light emitting diode (LED) display, a liquid crystal display (LCD), a projector, or a cathode ray tube (CRT)), an acoustic component (e.g., a speaker), a tactile component (e.g., a vibration motor, a resistance mechanism), other signal generators such as the signal generator 110 or the signal generator 306, etc. The input component 2330 may include an alphanumeric input component (e.g., a keyboard, a touch screen configured to receive alphanumeric input, a photographic optical keyboard, or other alphanumeric input component), a point-based input component (e.g., a mouse, a touchpad, a trackball, a joystick, a motion sensor, or another pointing tool), a tactile input component (e.g., a physical button, a touch screen or other tactile input component that provides the location and / or force of a touch or touch gesture), an audio input component (e.g., a microphone), etc.

[0282] In a further example embodiment, the I / O component 2342 may include sensors 120, such as one or more of a biometric component 2332, a motion component 2334, an environmental component 2336, or a position component 2338, as well as various other components. For example, the biometric component 2332 includes a component for detecting expressions (e.g., hand expressions, facial expressions, vocal expressions, body postures, or eye tracking), measuring biosignals (e.g., blood pressure, heart rate, body temperature, sweating, muscle oxygenation, or brain waves), identifying people (e.g., voice recognition, retinal recognition, facial recognition, fingerprint recognition, or EEG-based recognition), etc. The motion component 2334 includes an acceleration sensor component (e.g., an accelerometer), a gravity sensor component, a rotation sensor component (e.g., a gyroscope), etc. For example, the environmental component 2336 includes an illumination sensor component (e.g., a photometer), a temperature sensor component (e.g., one or more thermometers that detect ambient temperature), a humidity sensor component, a pressure sensor component (e.g., a barometer), a sound sensor component (e.g., one or more microphones that detect background noise), a proximity sensor component (e.g., an infrared sensor that detects nearby objects), a gas sensor (e.g., a gas detection sensor that detects concentrations of hazardous gases or measures pollutants in the atmosphere for safety purposes), or other components that can provide indications, measurements, or signals corresponding to ambient noise. The position component 2338 includes a position sensor component (e.g., a GPS receiver component), an altitude sensor component (e.g., an altimeter or barometer that detects air pressure from which altitude can be derived), an orientation sensor component (e.g., a magnetometer), and the like.

[0283] A variety of technologies can be used to implement communications. I / O components 2342 also include communication components 2340, which are operable to couple machine 2300 to network 2320 or device 2322 via coupling 2324 and coupling 2326, respectively. For example, communication components 2340 may include a network interface component or another suitable device that interfaces with network 2320. In further examples, communication components 2340 may include wired communication components, wireless communication components, cellular communication components, near field communication (NFC) components, Parts (such as Low energy), Device 2322 may be another machine or any of a variety of peripheral devices (eg, a peripheral device coupled via USB).

[0284] In addition, the communication component 2340 can detect an identifier or include components for detecting an identifier. For example, the communication component 2340 can include a radio frequency identification (RFID) tag reader component, an NFC smart tag detection component, an optical reader component (e.g., an optical sensor that detects a one-dimensional barcode such as a universal product code (UPC) barcode, a multi-dimensional barcode, and other optical codes), or an acoustic detection component (e.g., a microphone that recognizes an audio signal of a tag). In addition, various information can be derived via the communication component 2340, such as a location via Internet Protocol (IP) geolocation, a location via Internet Protocol (IP), ... Location of signal triangulation, location of NFC beacon signals that can indicate a specific location via detection, etc.

[0285] Various memories (e.g., memory 2304, main memory 2312, static memory 2314, and / or memory of processor 2302) and / or storage unit 2316 may store one or more sets of instructions and data structures (e.g., software) that embody or are used by any one or more of the methods or functions described herein. When executed by processor 2302, these instructions (e.g., instructions 2308) cause various operations to implement the disclosed embodiments.

[0286] Instructions 2308 can be sent or received over network 2320 using a transmission medium via a network interface device (e.g., a network interface component included in communication component 2340) and using any of a number of well-known transmission protocols, such as the Hypertext Transfer Protocol (HTTP). Similarly, instructions 2308 can be sent or received using a transmission medium via coupling 2326 (e.g., a peer-to-peer coupling) to device 2322.

[0287] Various aspects of the present disclosure may help provide solutions to the activewear or apparel-related or clutch system problems identified herein.For example, various aspects of the present disclosure relate to flexible and stretchable waterproof packaging for integrating actuators into apparel.

[0288] In an example, aspect 1 may include or use subject matter, such as an article of apparel that may include or use an electroadhesive clutch device, the electroadhesive clutch device comprising an elongated housing forming a water-resistant shell, a first electrode assembly positioned within the water-resistant shell, and a second electrode assembly positioned within the water-resistant shell, the second electrode being different from the first electrode and at least partially overlapping and configured to slide relative to the first electrode, an electrical signal generator configured to provide first and second signals to the first and second electrode assemblies, respectively, wherein the first electrode assembly may be configured to slide laterally relative to the second electrode assembly when the first and second signals are not applied and to remain stationary relative to the second electrode assembly when the first and second signals are applied, and a textile material to which the elongated flexible housing may be attached at least at a first end of the elongated flexible housing, wherein actuation of the clutch device is configured to selectively cause a portion of the article of apparel to be fixed (e.g., remain stationary or in a fixed configuration or orientation) or to be moved (e.g., be movable or flexible, or be capable of moving at least a portion of the clutch device or the apparel or the housing).

[0289] Aspect 2 may include, or may alternatively be combined with Aspect 1 to include, the elongated housing being a flexible housing made of or including an elastic material.

[0290] Aspect 3 may include, or may alternatively be combined with any one or more of aspects 1 or 2 to include, a lateral portion of the housing having a ribbed texture.

[0291] Aspect 4 may include, or may alternatively be combined with Aspect 3 to include, a rubber-containing ribbed texture.

[0292] Aspect 5 may include, or may alternatively be combined with any one or more of aspects 1-4 to include, a water-resistant coating on the outwardly facing surface of the housing.

[0293] Aspect 6 may include, or may optionally be combined with any one or more of Aspects 1-5 to include, the first electrode assembly of the electroadhesion clutch being substantially fixed relative to the first end of the slender flexible housing, the second electrode assembly of the electroadhesion clutch being substantially fixed relative to the second end of the slender flexible housing, and the middle portion of the slender housing being configured to move relative to the first and second electrode assemblies.

[0294] Aspect 7 may include, or may alternatively be combined with any one or more of aspects 1-6 to include, forming an elongated housing to form a gas-tight fit around the first and second electrode assemblies.

[0295] Aspect 8 may include, or may optionally be combined with any one or more of Aspects 1-7 to include, an accelerometer disposed within or internal to the housing, the accelerometer configured to measure motion of a body to which the clutch device may be coupled, and the electrical signal generator may be configured to generate a signal based on the measured motion.

[0296] Aspect 9 may include, or may alternatively be combined with aspect 8 to include, the accelerometer being configured to measure a magnitude of acceleration of at least a portion of the clutch device, and the electrical signal generator being configured to generate a signal having amplitude and / or frequency characteristics based at least in part on the magnitude of the acceleration.

[0297] Aspect 10 may include, or may alternatively be combined with any one or more of aspects 1-9 to include, a light source configured to provide light to illuminate at least a portion of the elongated housing.

[0298] Aspect 11 may include, or may alternatively be combined with aspect 10 to include, a brightness of the light provided by the light source being based on a characteristic of at least one of the first and second signals provided to the electrode assembly.

[0299] Aspect 12 may include, or may alternatively be combined with any of the preceding aspects or examples to include, a method comprising assembling an electroadhesion clutch device comprising an elongated flexible housing forming a housing, a first electrode assembly positioned within the housing, a second electrode assembly positioned within the housing, the second electrode being different from the first electrode and at least partially overlapping and configured to slide relative to the first electrode, and an electrical signal generator configured to provide first and second signals to the first and second electrode assemblies, respectively, wherein the first electrode assembly may be configured to slide laterally relative to the second electrode assembly when the first and second signals are not applied, and to remain stationary relative to the second electrode assembly when the first and second signals are applied. The method of Aspect 12 may include securing a textile material to at least a first end of the elongated flexible housing of the electroadhesion clutch device, the elongated flexible housing allowing the textile material to selectively remain stationary or become flexible.

[0300] Aspect 13 may include, or may alternatively be combined with aspect 12 to include, the elongated flexible housing comprising a waterproof elastomeric material configured to provide a housing for the clutch device.

[0301] Aspect 14 may include, or may alternatively be combined with any one or more of aspects 12 or 13 to include, a transverse portion of the housing having a ribbed texture.

[0302] Aspect 15 may include, or may alternatively be combined with any one or more of aspects 12-14 to include, the ribbed texture comprising or including a rubber material.

[0303] Aspect 16 may include, or may alternatively be combined with any one or more of aspects 12-15 to include, a water-resistant coating on the outwardly facing surface of the housing.

[0304] Aspect 17 may include, or may optionally be combined with any one or more of Aspects 12-16 to include, the first electrode assembly of the electroadhesion clutch being substantially fixed relative to the first end of the slender flexible housing, the second electrode assembly of the electroadhesion clutch being substantially fixed relative to the second end of the slender flexible housing, and the middle portion of the slender flexible housing being configured to move relative to the first and second electrode assemblies.

[0305] Aspect 18 may include, or may alternatively be combined with any one or more of aspects 12-17 to include, the elongated flexible housing forming an airtight fit around the first and second electrode assemblies.

[0306] Aspect 19 may include, or may optionally be combined with any one or more of Aspects 12-18 to include, an accelerometer in or coupled to the housing, the accelerometer configured to measure motion of a body to which the clutch device is or can be coupled, and the electrical signal generator may be configured to generate a signal based on the measured motion.

[0307] Aspect 20 may include, or may alternatively be combined with aspect 19 to include, the accelerometer being configured to measure a magnitude of acceleration of at least a portion of the clutch device, and the electrical signal generator being configured to generate a signal having amplitude and / or frequency characteristics based at least in part on the magnitude of the acceleration.

[0308] Aspect 21 may include, or may optionally be combined with any of the preceding aspects or examples to include, an electroadhesive clutch device for an article of apparel, the device comprising an elongated flexible housing forming a waterproof shell, a first electrode assembly positioned within the waterproof shell, a second electrode assembly positioned within the waterproof shell, the second electrode being different from the first electrode and at least partially overlapping and configured to slide relative to the first electrode, and an electrical signal generator configured to provide first and second signals to the first and second electrode assemblies, respectively, wherein the first electrode assembly may be configured to slide laterally relative to the second electrode assembly when the first and second signals are not applied, and the first electrode assembly is configured to be substantially stationary (e.g., remain in a stationary or non-moving position) relative to the second electrode assembly when the first and second signals are applied.

[0309] Aspect 22 may include, or may alternatively be combined with aspect 21 to include, an accelerometer within the elongated flexible housing, the accelerometer configured to measure motion of a body to which the clutching device may be coupled, and the electrical signal generator may be configured to generate a signal based on the measured motion.

[0310] Aspect 23 may include, or may alternatively be combined with any one or more of aspects 21 or 22 to include, an illumination or light source configured to provide light to illuminate at least a portion of the elongated flexible housing or components therein.

[0311] Aspect 24 may include, or may optionally be combined with aspect 23 to include, a driver for the light source, wherein the driver may be configured to control the amplitude or amount of light provided by the light source based on the amplitude of at least one of the first and second signals provided by the electrical signal generator.

[0312] Various aspects of the present disclosure relate to systems and methods for minimizing bulk charge accumulation in electroadhesion actuators. For example, aspect 25 may include, or may optionally be combined with any of the preceding aspects or examples to include, an electroadhesion clutch device comprising a first electrode assembly including a first conductive portion that may be at least partially covered by a first dielectric insulator, a second electrode assembly including a second conductive portion that may be at least partially covered by a second dielectric insulator, and an electrical signal generator configured to provide first and second signals to the first and second conductive portions of the electrode assembly, respectively, wherein the first and second signals comprise respective opposite polarity portions of an alternating current (AC) signal. In aspect 25, the first and second electrode assemblies may at least partially overlap and be configured to slide relative to each other on their respective surfaces including the first and second dielectric insulators.

[0313] Aspect 26 may include, or may alternatively be combined with any one or more of aspects 25-17 to include, at least one of the first and second electrode assemblies being configured for linear movement relative to the other.

[0314] Aspect 27 may include, or may optionally be combined with any one or more of aspects 25 or 26 to include, the electrical signal generator being configured to generate the AC signal as a pulse width modulated signal having a duty cycle of approximately 50%.

[0315] Aspect 28 may include, or may optionally be combined with any one or more of aspects 25-27 to include, the electrical signal generator being configured to generate the AC signal as a pulse width modulated signal having an average duty cycle of approximately 50%.

[0316] Aspect 29 may include, or may optionally be combined with any one or more of aspects 25-28 to include, the AC signal having a frequency of at least about 10 Hz.

[0317] Aspect 30 may include, or may optionally be combined with aspect 29 to include, the AC signal having a frequency of less than about 50 Hz.

[0318] Aspect 31 may include, or may optionally be combined with any one or more of aspects 25-30 to include, an accelerometer configured to measure motion of a body to which the clutching device may be coupled, and the signal generator may be configured to generate the AC signal based on the measured motion.

[0319] Aspect 32 may include, or may optionally be combined with any one or more of aspects 25-31 to include, an accelerometer configured to measure movement of the clutch device, and the signal generator may be configured to generate the AC signal based on the measured movement.

[0320] Aspect 33 may include, or may alternatively be combined with aspect 32 to include, the accelerometer being configured to measure a magnitude of acceleration of at least a portion of the clutch device, and the signal generator being configured to generate an AC signal having an amplitude and / or frequency characteristic dependent on the magnitude of the measured acceleration.

[0321] Aspect 34 may include, or may alternatively be combined with aspect 32 to include, the accelerometer being configured to measure a frequency of acceleration changes of at least a portion of the clutch device, and the signal generator being configured to generate an AC signal having amplitude and / or frequency characteristics dependent on the measured frequency of the acceleration changes.

[0322] Aspect 35 may include, or may optionally be combined with any one or more of aspects 25-34 to include, a processor circuit configured to control the signal generator to generate the AC signal based on information from the accelerometer regarding the acceleration of the clutch device or regarding the acceleration of a body to which the clutch device may be coupled.

[0323] Aspect 36 may include, or may optionally be combined with aspect 35 to include, an accelerometer, and the processor circuit may be configured to receive an acceleration-indicative signal from the accelerometer, identify oscillatory motion based on the acceleration-indicative signal from the accelerometer, and control the signal generator based on the identified oscillatory motion.

[0324] Aspect 37 may include, or may alternatively be combined with aspect 36 to include, the processor circuit being configured to identify an amplitude or frequency characteristic of the oscillatory motion and, in response, update the amplitude characteristic of the AC signal, thereby updating the shear force resistance characteristic of the clutch device.

[0325] Aspect 38 may include, or may optionally be combined with any one or more of aspects 25-37 to include, a processor circuit configured to receive a clutch force indication and, in response, control the electrical signal generator to update a frequency or amplitude characteristic of the AC signal based on the clutch force indication.

[0326] Aspect 39 may include, or may alternatively be combined with aspect 38 to include, a displacement sensor configured to provide an indication of the clutch force based on information regarding the relative displacement of the first and second electrode assemblies.

[0327] Aspect 40 may include, or may optionally be combined with any of the preceding aspects or examples to include, a wearable garment having a controllable expansion and contraction portion, the wearable garment comprising a clutch device coupled to the expandable and contraction portion, the clutch device comprising a substantially planar first conductive portion at least partially covered by a first dielectric insulator and a substantially planar second conductive portion at least partially covered by a second dielectric insulator, and an electrical signal generator configured to provide first and second signals to the first and second conductive portions of the clutch device, respectively, wherein the first and second signals comprise alternating current (AC) clutch control signals. In aspect 40, the first and second conductive portions of the clutch device may at least partially overlap at respective surfaces comprising the first and second dielectric insulators.

[0328] Aspect 41 may include, or may optionally be combined with Aspect 40 to include, a sensor configured to sense motion or orientation of the wearable garment. In Aspect 40, the electrical signal generator may be configured to update the frequency or amplitude characteristics of the AC clutch control signal based on a sensor signal from the sensor, and the sensor signal may include information about the sensed motion or orientation of the wearable garment.

[0329] Aspect 42 may include, or may optionally be combined with any one or more of aspects 40 or 41 to include, a displacement sensor configured to measure a change in the size of the expandable and contractible portion, and the electrical signal generator may be configured to update a frequency or amplitude characteristic of the AC clutch control signal based on the measured change in the size of the expandable and contractible portion.

[0330] Aspect 43 may include, or may optionally be combined with any one or more of aspects 40 - 42 to include, the electrical signal generator being configured to generate the AC clutch control signal as a pulse width modulated signal having a duty cycle of approximately 50%.

[0331] Aspect 44 may include, or may alternatively be combined with aspect 43 to include, the AC clutch control signal having a frequency of at least about 10 Hz and less than about 50 Hz.

[0332] Aspect 45 may include, or may optionally be combined with any of the preceding aspects or examples to include, an electroadhesion clutch device comprising a first electrode assembly comprising a planar first conductive portion, a second electrode assembly comprising a planar second conductive portion, a first dielectric member disposed between the first and second conductive portions, an electrical signal generator configured to provide first and second signals to the first and second conductive portions of the electrode assembly, respectively, wherein the first and second signals comprise respective opposite polarity portions of an alternating current (AC) clutch control signal, and the first and second electrode assemblies may at least partially overlap along a surface comprising the first and second conductive portions.

[0333] Aspect 46 may include, or may alternatively be combined with aspect 45 to include, a device housing, wherein the first electrode assembly may be substantially fixed relative to the device housing, and wherein the second electrode assembly may be configured to move relative to the device housing and the first electrode assembly.

[0334] Aspect 47 may include, or may alternatively be combined with any one or more of aspects 45 or 46 to include, a first dielectric member coupled to the first conductive portion and disposed between the first and second conductive portions of the apparatus.

[0335] Aspect 48 may include, or may alternatively be combined with aspect 47 to include, a second dielectric member coupled to the second conductive portion and disposed between the first dielectric member and the second conductive portion of the second electrode assembly.

[0336] Aspect 49 may include, or may optionally be combined with any one or more of aspects 45-48 to include, the electrical signal generator being configured to generate the AC clutch control signal as a pulse width modulated signal having an average duty cycle of approximately 50%.

[0337] Aspect 50 may include, or may alternatively be combined with aspect 49 to include, the AC clutch control signal having a frequency of at least about 10 Hz and less than about 50 Hz.

[0338] Aspect 51 may include, or may optionally be combined with any one or more of aspects 45-50 to include, an accelerometer configured to measure movement of the clutch device, and the signal generator may be configured to generate the AC clutch control signal based on the measured movement.

[0339] Various aspects of the present disclosure relate to minimizing wear in electroadhesive actuators. For example, aspect 52 may include, or may optionally be combined with any of the preceding aspects or examples to include, an adaptable wearable article comprising a textile defining an opening configured to receive a body part of a wearer, and an electroadhesive clutch secured to the textile and extending around at least a portion of the opening. In aspect 52, the electroadhesive clutch may include a first electrode assembly and a second electrode assembly, the first electrode assembly comprising a first conductive member and a first polymer substrate applied to the first conductive member, the first polymer substrate having a harderness greater than the hardness of the first conductive member; the second electrode assembly comprising a second conductive member partially covering the first conductive member; and the second electrode assembly comprising a second conductive member and a second polymer substrate applied to the second conductive member, the second polymer substrate having a harderness greater than the hardness of the second conductive member. In this example, the first and second conductive members may be proximate to each other, while the first and second polymer substrates are spaced apart relative to each other. Aspect 52 may include or utilize an electrical signal generator configured to provide first and second signals to the first and second conductive members of the electrode assembly, respectively, wherein the first electrode assembly may be configured to slide laterally relative to the second electrode assembly when the first and second signals are not applied, and to remain stationary relative to the second electrode assembly when the first and second signals are applied. In aspect 52, the electroadhesion clutch may be configured to inhibit the opening size from increasing when the first and second signals are applied to the first and second electrode assemblies, and to enable the opening size to increase when the first and second signals are not applied.

[0340] Aspect 53 may include, or may alternatively be combined with aspect 52 to include, the electroadhesive clutch further comprising a waterproof housing, the first and second electrode assemblies being located within the waterproof housing.

[0341] Aspect 54 may include, or may alternatively be combined with aspect 53 to include, the waterproof housing being a resilient waterproof housing configured to return the first and second electrode assemblies to a relaxed position when a force cannot be exerted on the resilient waterproof housing.

[0342] Aspect 55 may include, or may alternatively be combined with any one or more of aspects 52-54 to include, applying the first polymeric substrate to the first conductive member with a first adhesive layer and applying the second polymeric substrate to the second conductive member with a second adhesive layer.

[0343] Aspect 56 can include, or can alternatively be combined with aspect 55 to include, the first and second polymeric substrates being polyolefin foams.

[0344] Aspect 57 may include, or may alternatively be combined with aspect 56 to include, the first and second polymer substrates having a thickness of approximately 0.25 mm.

[0345] Aspect 58 may include, or may optionally be combined with any one or more of aspects 52-57 to include, the electroadhesion clutch including a controller operably coupled to the electrical signal generator and configured to cause the electrical signal generator to apply the first and second signals based on the received input.

[0346] Aspect 59 may include, or may optionally be combined with aspect 58 to include, the electroadhesive clutch including a sensor operably coupled to the controller configured to output a sensor signal based on a detected condition of the adaptive apparel article, and the controller configured to receive the sensor signal as input.

[0347] Aspect 60 may include, or may alternatively be combined with aspect 59 to include, the sensor being at least one of an accelerometer, a gyroscope, or a pressure sensor.

[0348] Aspect 61 may include, or may optionally be combined with any one or more of aspects 52-17 to include, the electroadhesive clutch further comprising a user input operably coupled to the controller configured to receive a command from a user and output a signal indicative of a command that may be received as input by the controller.

[0349] Aspect 62 may include, or may optionally be combined with any of the preceding aspects or examples to include, a method of manufacturing an adaptable wearable article, the method comprising forming a textile comprising an opening, the opening configured to receive a body part of a wearer, and securing an electroadhesive clutch to the textile and extending around at least a portion of the opening. In an example, the electroadhesive clutch comprises a first electrode assembly and a second electrode assembly, the first electrode assembly comprising a first conductive member and a first polymer substrate applied to the first conductive member, the first polymer substrate having a hardness greater than a hardness of the first conductive member; the second electrode assembly comprising a second conductive member partially covering the first conductive member; the second electrode assembly comprising a second conductive member and a second polymer substrate applied to the second conductive member, the second polymer substrate having a hardness greater than a hardness of the second conductive member, wherein the first and second conductive members are proximate to each other and the first and second polymer substrates are distal to each other. Aspect 62 may include an electrical signal generator configured to provide first and second signals to first and second conductive members of the electrode assembly, respectively, wherein the first electrode assembly may be configured to slide laterally relative to the second electrode assembly when the first and second signals are not applied and remain stationary relative to the second electrode assembly when the first and second signals are applied, and the electroadhesion clutch may be configured to inhibit an increase in size of the opening when the first and second signals are applied to the first and second electrode assemblies, and the opening may be permitted or enabled to increase in size when the first and second signals are not applied.

[0350] Aspect 63 may include, or may alternatively be combined with aspect 62 to include, the electroadhesive clutch further comprising a waterproof housing, the first and second electrode assemblies being located within the waterproof housing.

[0351] Aspect 64 may include, or may alternatively be combined with aspect 63 to include, the waterproof housing being a resilient waterproof housing configured to return the first and second electrode assemblies to a relaxed position when a force cannot be exerted on the resilient waterproof housing.

[0352] Aspect 65 may include, or may optionally be combined with any one or more of aspects 62-64 to include, applying a first polymeric substrate to the first conductive member with a first adhesive layer, and applying a second polymeric substrate to the second conductive member with a second adhesive layer.

[0353] Aspect 66 can include, or can alternatively be combined with aspect 65 to include, the first and second polymeric substrates comprising polyolefin foam.

[0354] Aspect 67 may include, or may alternatively be combined with aspect 66 to include, the first and second polymer substrates having a thickness of approximately 0.25 mm.

[0355] Aspect 68 may include, or may optionally be combined with any one or more of aspects 62-67 to include, the electroadhesion clutch including a controller operably coupled to the electrical signal generator and configured to cause the electrical signal generator to apply the first and second signals based on the received input.

[0356] Aspect 69 may include, or may optionally be combined with aspect 68 to include, the electroadhesive clutch further comprising a sensor operably coupled to the controller configured to output a sensor signal based on a detected condition of the adaptive apparel article, and the controller configured to receive the sensor signal as input.

[0357] Aspect 70 may include, or may optionally be combined with aspect 62 to include, the sensor being at least one of an accelerometer, a gyroscope, or a pressure sensor.

[0358] Aspect 71 may include, or may optionally be combined with any one or more of aspects 62-70 to include, the electroadhesive clutch including a user input operably coupled to the controller configured to receive a command from a user and output a signal indicative of a command that may be received as input by the controller.

[0359] Various aspects of the present disclosure relate to electroadhesion systems for apparel. For example, aspect 72 may include, or may optionally be combined with any of the foregoing aspects or examples to include, a support garment for a wearer, the support garment comprising a textile layer forming a support region, the support region configured to adjustably inhibit displacement of a wearer's body part located near the support region, and a hollow strap secured to a portion of the textile layer. In aspect 72, the hollow strap encloses an electroadhesion clutch device having a first electrode assembly, a second electrode assembly different from the first electrode assembly, and an electrical signal generator, the second electrode assembly at least partially overlapping and configured to slide laterally relative to the first electrode assembly, the electrical signal generator providing one or more signals to the first and second electrode assemblies. In aspect 72, the electroadhesion clutch device can be configured to selectively adjust the amount of displacement that the support garment allows a body part located near the support region.

[0360] Aspect 73 may include, or may alternatively be combined with aspect 72 to include, the support garment being a sports bra, the support region being a cup of the sports bra.

[0361] Aspect 74 may include, or may optionally be combined with aspect 73 to include, the hollow strap comprising a first hollow strap, the electroadhesive clutch being a first electroadhesive clutch, the cup being a first cup, and the support garment may include a second hollow strap secured to a second portion of the textile layer forming a second support region, the second hollow strap enclosing a second electroadhesive clutch, the second support region being a second cup of the sports bra.

[0362] Aspect 75 may include, or may alternatively be combined with aspect 74 to include, each of the first and second hollow straps being individually controllable to selectively engage or tighten and loosen or disengage.

[0363] Aspect 76 may include, or may alternatively be combined with aspect 74 to include, a signal generator configured to provide one or more electrical signals to the first and second electroadhesion clutches.

[0364] Aspect 77 may include, or may alternatively be combined with aspect 76 to include, the first clutch and the second clutch selectively adjusting an amount that the support garment allows the body part to be displaced at substantially the same time as one another.

[0365] Aspect 78 may include, or may optionally be combined with any one or more of aspects 72-77 to include, a support garment as a motion support, wherein the hollow strap may be a right hollow strap secured to the right side of the textile layer forming the support area, the support garment may further include a left hollow strap secured to the left side of the textile layer forming the support area, and the right hollow strap and the left hollow strap may be configured to selectively inhibit displacement of a body part of the wearer.

[0366] Aspect 79 may include, or may alternatively be combined with aspect 78 to include, a displacement sensor for each of the first and second hollow straps, the displacement sensor configured to measure changes in the straps as the straps are tightened and / or loosened.

[0367] Aspect 80 may include, or may alternatively be combined with any one or more of aspects 72-79 to include, the first and second electrode assemblies partially overlapping at their respective surfaces.

[0368] Aspect 81 may include, or may optionally be combined with any one or more of aspects 72-80 to include, a signal generator configured to provide one or more signals to the electroadhesion clutch to selectively engage or tighten and loosen.

[0369] Aspect 82 may include, or may optionally be combined with any one or more of aspects 72-81 to include, an accelerometer configured to measure movement of the electroadhesion clutch and generate one or more signals based on the measured movement.

[0370] Aspect 83 may include, or may alternatively be combined with aspect 82 to include, the support garment being configured to tighten when the wearer may be subjected to an acceleration above a threshold value, and to loosen when the wearer may be subjected to an acceleration below the threshold value. That is, aspect 83 may include the clutch device being configured to secure the first and second electrode assemblies when the measured motion indicates that the wearer has exceeded the threshold acceleration, and otherwise being configured to allow movement of one or both of the first and second electrode assemblies.

[0371] Aspect 84 may include, or may alternatively be combined with any one or more of aspects 72-83 to include, the first and second hollow straps acting as a waterproof enclosure.

[0372] Aspect 85 may include, or may optionally be combined with any of the preceding aspects or examples to include, a method comprising forming a textile layer of a support garment having a support area, and forming a hollow strap to be secured to a portion of the textile layer, the hollow strap enclosing an electroadhesion clutch device having a substantially flat first conductive portion and a substantially flat second conductive portion, the electroadhesion clutch device selectively inhibiting or allowing movement of the support area relative to a body part of a wearer of the textile layer.

[0373] Aspect 86 may include, or may alternatively be combined with aspect 85 to include, the support garment being a sports bra, the support region being a cup of the sports bra.

[0374] Aspect 87 may include, or may optionally be combined with aspect 86 to include, a hollow strap as a first hollow strap, an electroadhesion clutch as a first electroadhesion clutch, and the support garment may include a second hollow strap secured to a second portion of the textile layer, the second hollow strap enclosing a second electroadhesion clutch device, the second electroadhesion clutch device having a substantially flat first conductive portion and a substantially flat second conductive portion.

[0375] Aspect 88 may include, or may alternatively be combined with aspect 87 to include, a signal generator configured to provide one or more electrical signals to the first and second electroadhesion clutches.

[0376] Aspect 89 may include, or may optionally be combined with aspect 88 to include, the first clutch and the second clutch being configured to selectively tighten and loosen substantially simultaneously, ie, simultaneously with each other. That is, the first and second clutch devices may be configured to be actuated or disengaged substantially simultaneously.

[0377] Aspect 90 may include, or may optionally be combined with any one or more of aspects 85-89 to include, the support garment as a motion support, the hollow strap as a right hollow strap secured to the right side of the textile layer forming the support area, and the support garment may further include a left hollow strap secured to the left side of the textile layer forming the support area, the right hollow strap and the left hollow strap being configured to selectively inhibit displacement of a body part of the wearer.

[0378] Aspect 91 may include, or may optionally be combined with any one or more of Aspects 85-90 to include, an accelerometer configured to measure an acceleration rate for the electroadhesion clutch, and the support garment may be configured to tighten when the wearer is at an acceleration rate above a threshold and to loosen when the wearer is at an acceleration rate below the threshold. In other words, Aspect 91 may include measuring the acceleration of the body part, and the electroadhesion clutch may be configured to actuate when the measured acceleration is greater than the threshold acceleration, and otherwise to disengage.

[0379] Aspect 92 may include, or may alternatively be combined with any one or more of aspects 85-91 to include, actuating an electroluminescent portion of the clutch device in coordination with selective tightening and loosening of the support region.

[0380] Aspect 93 may include, or may optionally be combined with any of the preceding aspects or examples to include, an article of apparel comprising a modular panel for selectively coupling to a support garment, the modular panel comprising an electroadhesion clutch device having a first electrode assembly, a second electrode assembly different from the first electrode assembly, which at least partially overlaps and is configured to slide laterally relative to the first electrode assembly, and an electrical signal generator configured to provide one or more signals to the first and second electrode assemblies, the electroadhesion clutch device being configured to selectively adjust the amount that the support garment allows a body part proximate to the support area to displace when coupled to the support garment.

[0381] Aspect 94 may include, or may optionally be combined with aspect 93 to include, the modular panel further comprising an accelerometer configured to measure acceleration of the electroadhesion clutch, and the clutch device may be configured to actuate based on a relationship between the measured acceleration and a specified threshold acceleration.

[0382] Aspect 95 may include, or may alternatively be combined with any one or more of aspects 93 or 94 to include, the electroadhesion clutch device including an electroluminescent component that may be configured to emit light in coordination with actuation of the clutch device.

[0383] Aspect 96 may include, or may optionally be combined with any of the preceding aspects or examples to include, a modular device for an article of apparel, the device comprising an interface configured to mechanically couple to a corresponding interface on the article of apparel, and an electroadhesive clutch device having a first electrode assembly, a second electrode assembly distinct from the first electrode assembly that at least partially overlaps and is configured to slide laterally relative to the first electrode assembly, and an electrical signal generator configured to provide one or more signals to the first and second electrode assemblies.

[0384] Aspect 97 may include, or may alternatively be combined with aspect 96 to include, an interface of the modular apparatus, the interface including hook and loop fasteners to couple the modular apparatus to the article of apparel.

[0385] Aspect 98 may include, or may alternatively be combined with any one or more of aspects 96 or 97 to include, an interface of the modular apparatus comprising one or more magnetic fasteners to couple the modular apparatus to the article of apparel.

[0386] Aspect 99 may include, or may optionally be combined with any one or more of Aspects 96-98 to include, the electroadhesion clutch device being configured to selectively control the amount that the garment allows the wearer's limb to displace within a support area of ​​the article of apparel when an interface of the modular device is coupled to a corresponding interface on the article of apparel.

[0387] Aspect 100 may include, or may alternatively be combined with aspect 99 to include, an accelerometer, and the clutch device may be configured to be selectively actuated in response to information from the accelerometer.

[0388] Aspect 101 may include, or may optionally be combined with any of the preceding aspects or examples to include, an article of apparel comprising a support portion configured to support a limb of a user, a belt portion coupled to the support portion and configured to be worn around the waist or torso of the user, an extendable member coupled to the support portion and the belt portion, and an interface configured to connect a clutch device to the extendable member.

[0389] Aspect 102 may include, or may optionally be combined with aspect 101 to include, the support portion being configured to receive and support a chest portion (eg, breast tissue) of a user.

[0390] Aspect 103 may include, or may optionally be combined with any one or more of aspects 101 or 102 to include, the support portion being configured to receive and support a crotch area (eg, penis or testicles) of a user.

[0391] Aspect 104 may include, or may optionally be combined with any one or more of aspects 101 - 103 to include, the extendable member being further configured to retract.

[0392] Aspect 105 may include, or may alternatively be combined with any one or more of aspects 101 - 104 to include, the interface comprising a hook portion or a loop portion of a hook and loop type fastener.

[0393] Various aspects of the present disclosure relate to apparel fit or form-fitting. For example, aspect 106 may include, or may optionally be combined with any of the preceding aspects or examples to include, an adaptive article of apparel comprising a textile defining an opening configured to receive a body part of a wearer, and an electroadhesive clutch secured to the textile and extending around at least a portion of the opening. The electroadhesive clutch may include a first electrode assembly comprising a first conductive member, a second electrode assembly comprising a second conductive member that partially covers the first conductive member, and an electrical signal generator configured to provide first and second signals to the first and second conductive members of the electrode assembly, respectively. In aspect 106, the first electrode assembly may be configured to slide laterally relative to the second electrode assembly when the first and second signals are not applied, and to remain stationary relative to the second electrode assembly when the first and second signals are applied. In aspect 106, the electroadhesive clutch may be configured to inhibit an increase in the size of the opening when the first and second signals are applied to the first and second electrode assemblies, and to enable an increase in the size of the opening when the first and second signals are not applied. In other words, the first electrode assembly can be configured to slide laterally relative to the second electrode assembly when the first and second signals are absent, and the first electrode assembly can be configured to be laterally fixed relative to the second electrode assembly when the first and second signals are applied. The electroadhesive coupling can be used or configured to help inhibit or prevent the opening size from changing when the first and second signals are applied to the first and second electrode assemblies, and the opening size is adjustable when the first and second signals are absent or removed.

[0394] Aspect 107 may include, or may alternatively be combined with aspect 106 to include, the electroadhesive clutch comprising a waterproof housing, the first and second electrode assemblies being located within the waterproof housing.

[0395] Aspect 108 may include, or may alternatively be combined with aspect 107 to include, the waterproof housing being a resilient waterproof housing configured to return the first and second electrode assemblies to a relaxed position when a force cannot be exerted on the resilient waterproof housing.

[0396] Aspect 109 may include, or may optionally be combined with any one or more of aspects 106-108 to include, the textile being a waterproof textile, and the textile may be configured to form a waterproof seal around the first and second electrode assemblies.

[0397] Aspect 110 may include, or may alternatively be combined with aspect 109 to include, the textile being an elastic textile configured to return the first and second electrode assemblies to a relaxed or biased position when no force is placed or applied to the textile.

[0398] Aspect 111 may include, or may optionally be combined with any one or more of aspects 106-110 to include, the electroadhesion clutch further comprising a controller operably coupled to the electrical signal generator and configured to cause the electrical signal generator to apply the first and second signals based on the received input.

[0399] Aspect 112 may include, or may optionally be combined with aspect 111 to include, the electroadhesive clutch further comprising a sensor operably coupled to the controller configured to output a sensor signal based on a detected condition of the adaptive apparel article, and the controller may be configured to receive the sensor signal as input.

[0400] Aspect 113 may include, or may optionally be combined with aspect 112 to include, the sensor being at least one of an accelerometer, a gyroscope, or a pressure sensor.

[0401] Aspect 114 may include, or may optionally be combined with any one or more of aspects 111-113 to include, the electroadhesive clutch further comprising a user input operably coupled to the controller configured to receive a command from a user and output a signal indicative of a command that may be received as input by the controller.

[0402] Aspect 115 may include, or may optionally be combined with any one or more of aspects 106-114 to include, the article of adaptive apparel being a hat.

[0403] Aspect 116 may include, or may optionally be combined with any one or more of aspects 106-115 to include, the article of adaptive apparel as a sleeve configured to be worn around an arm or leg of a wearer.

[0404] Aspect 117 may include, or may optionally be combined with any one or more of aspects 106-116 to include, the opening comprising an opening or aperture portion of a pocket in or coupled to the article of apparel.

[0405] Aspect 118 may include, or may optionally be combined with any of the preceding aspects or examples to include, a method comprising forming a textile having an opening configured to receive a body part of a wearer, and securing an electroadhesive clutch to the textile, the electroadhesive clutch extending around at least a portion of the opening. In aspect 118, the electroadhesive clutch may include at least a first electrode assembly comprising a first conductive member, a second electrode assembly comprising a second conductive member that partially covers the first conductive member, and an electrical signal generator configured to provide first and second signals to the first and second conductive members of the electrode assemblies, respectively, wherein the first electrode assembly may be configured to slide laterally relative to the second electrode assembly when the first and second signals are not applied, and remain stationary relative to the second electrode assembly when the first and second signals are applied, and the electroadhesive clutch may be configured to inhibit an increase in size of the opening when the first and second signals are applied to the first and second electrode assemblies, and to enable an increase in size of the opening when the first and second signals are not applied.

[0406] Aspect 119 may include, or may alternatively be combined with aspect 118 to include, the electroadhesive clutch further comprising a waterproof housing, the first and second electrode assemblies being or being positionable within the waterproof housing.

[0407] Aspect 120 may include, or may alternatively be combined with aspect 119 to include, the waterproof housing being a resilient waterproof housing configured to return the first and second electrode assemblies to a relaxed position when a force is released or not applied to the resilient waterproof housing.

[0408] Aspect 121 may include, or may optionally be combined with any one or more of aspects 118-120 to include, the textile being a waterproof textile, and the textile may be configured to form a waterproof seal around the first and second electrode assemblies.

[0409] Aspect 122 may include, or may alternatively be combined with aspect 121 to include, the textile being an elastic textile configured to return the first and second electrode assemblies to a relaxed position when a force is released or not applied to the textile.

[0410] Aspect 123 may include, or may optionally be combined with any one or more of aspects 118-122 to include, the electroadhesion clutch further comprising a controller operably coupled to the electrical signal generator and configured to cause the electrical signal generator to apply the first and second signals based on the received input.

[0411] Aspect 124 may include, or may optionally be combined with aspect 123 to include, the electroadhesive clutch further comprising a sensor operably coupled to the controller configured to output a sensor signal based on a detected condition of the adaptive apparel article, and the controller configured to receive the sensor signal as input.

[0412] Aspect 125 may include, or may optionally be combined with aspect 124 to include, the sensor being at least one of an accelerometer, a gyroscope, or a pressure sensor.

[0413] Aspect 126 may include, or may optionally be combined with any one or more of aspects 124 or 125 to include, the electroadhesive clutch further comprising a user input operably coupled to the controller configured to receive a command from a user and output a signal indicative of the command that may be received as input by the controller.

[0414] Aspect 127 may include, or may optionally be combined with any of the preceding aspects or examples to include, a garment comprising a garment base, a pocket portion at least partially secured to the garment base, the pocket portion comprising a pocket hole at a first edge of the pocket portion, and an electroadhesion clutch assembly comprising first and second electrodes, wherein the first electrode may be coupled at or near the pocket hole at the first edge of the pocket portion and the second electrode may be coupled to the garment base, and wherein the first and second electrodes may be configured to selectively close the pocket hole and maintain the pocket hole in a closed or sealed position upon actuation of the electroadhesion clutch assembly.

[0415] Aspect 128 may include, or may alternatively be combined with aspect 127 to include, a controller for the electroadhesion clutch assembly, and the controller may be configured to provide respective electrical signals to the first and second electrodes to control the clutch assembly.

[0416] Aspect 129 may include, or may optionally be combined with aspect 128 to include, an accelerometer, wherein the controller may be configured to provide corresponding electrical signals to the first and second electrodes based on information from the accelerometer.

[0417] Aspect 130 may include, or may optionally be combined with aspect 129 to include, the accelerometer being configured to measure orientation or posture information about a wearer of the garment, and the controller being configured to provide corresponding electrical signals to the first and second electrodes based on the orientation or posture information measured using the accelerometer.

[0418] Aspect 131 may include, or may optionally be combined with aspect 129 to include, the accelerometer being configured to measure activity level information about a wearer of the garment, and the controller being configured to provide corresponding electrical signals to the first and second electrodes based on the activity level information measured using the accelerometer.

[0419] Various aspects of the present disclosure relate to selectively breathable apparel. For example, aspect 132 may include, or may optionally be combined with any of the preceding aspects or examples to include, an article of apparel comprising an aperture in the article of apparel, an electroadhesive clutch device coupled to or integrated into the article of apparel and configured to selectively open and close the aperture in the article of apparel, and an electrical signal generator configured to send one or more signals to the clutch device to selectively open and / or close the aperture.

[0420] Aspect 133 may include, or may optionally be combined with aspect 132 to include, the electroadhesion clutch device being configured to open the pores to allow air flow through the flexible pores. For example, the electrodes of the electroadhesion clutch device may be configured to separate, thereby opening the pores and allowing air flow through.

[0421] Aspect 134 may include, or may alternatively be combined with aspect 132 or 133 to include, a shutter covering the aperture, the shutter coupled to the electroadhesion clutch device and configured to selectively cover and open the aperture.

[0422] Aspect 135 may include, or may alternatively be combined with aspect 134 to include, a manual securing mechanism to physically couple the flap to the aperture.

[0423] Aspect 136 may include, or may alternatively be combined with aspect 134 to include, the hole being a first hole of the plurality of holes, the flap being a first flap of the plurality of flaps, the first flap corresponding to the first hole.

[0424] Aspect 137 may include, or may optionally be combined with aspect 136 to include, a temperature sensor coupled to the electroadhesion clutch device, and the flap may be configured to cover the aperture when the temperature of the wearer of the article is below a threshold temperature and to open the aperture when the temperature of the wearer is above the threshold temperature.

[0425] Aspect 138 may include, or may alternatively be combined with aspect 136 to include, each of the plurality of apertures having a corresponding flap of the plurality of flaps, and each flap having a corresponding electroadhesion clutch device.

[0426] Aspect 139 may include, or may optionally be combined with any one or more of aspects 132-138 to include, an article of lower body apparel and may include right and left leg panels having elongated vertical holes extending through lower portions of the right and left leg panels.

[0427] Aspect 140 may include, or may alternatively be combined with any one or more of aspects 132-139 to include, the aperture being horizontally oriented and extending laterally across the article of apparel.

[0428] Aspect 141 may include, or may optionally be combined with any one or more of aspects 132-140 to include, an article of apparel as an upper body garment comprising an upper back panel having an elongated horizontal aperture extending through the rear side of the upper body and a corresponding elongated horizontal flap.

[0429] Aspect 142 may include, or may optionally be combined with any one or more of aspects 132-141 to include, a temperature sensor coupled to an electroadhesion clutch device configured to selectively open and close the aperture based on the temperature of a wearer of the article.

[0430] Aspect 143 may include, or may optionally be combined with any one or more of aspects 132-142 to include, the electroadhesion clutch device having first and second electrode assemblies, the electrical signal generator being configured to provide first and second signals to the first and second electrode assemblies, respectively, and the first and second signals being opposite polarity components of the AC clutch control signal.

[0431] Aspect 144 may include, or may optionally be combined with any of the preceding aspects or examples to include, a method comprising forming a hole in an article of apparel, integrating an electroadhesion clutch device into the article of apparel, the electroadhesion clutch configured to selectively open and close the hole in the article of apparel, and integrating an electrical signal generator into the article of apparel, the electrical signal generator configured to send one or more signals to the clutch device to selectively open and / or close the hole.

[0432] Aspect 145 may include, or may alternatively be combined with aspect 144 to include, the electroadhesive clutch being configured to open the aperture and allow air flow through the aperture.

[0433] Aspect 146 may include, or may alternatively be combined with any one or more of aspects 144 or 145 to include, forming a flap for covering the aperture, the flap coupled to the electroadhesion clutch device and configured to selectively cover and open the aperture.

[0434] Aspect 147 may include, or may optionally be combined with aspect 146 to include, integrating a temperature sensor to couple to the electroadhesion clutch device, and configuring the flap to cover the aperture when the temperature of the wearer of the article is below a threshold temperature and to open the aperture when the temperature of the wearer is above the threshold temperature.

[0435] Aspect 148 may include, or may alternatively be combined with any one or more of aspects 144-147 to include, the aperture being horizontally oriented and extending laterally across the article of apparel.

[0436] Aspect 149 may include, or may alternatively be combined with any one or more of aspects 144-148 to include, the electroadhesion clutch device having first and second electrode assemblies, the electrical signal generator being configured to provide first and second signals to the first and second electrode assemblies, respectively, the first and second signals being opposite polarity portions of the AC electroadhesion clutch control signal.

[0437] Aspect 150 may include, or may optionally be combined with any one or more of aspects 144-149 to include, an article of lower body apparel and may include right and left leg panels having elongated vertical holes extending through lower portions of the right and left leg panels.

[0438] Aspect 151 may include, or may alternatively be combined with aspect 146 to include, a manual securing mechanism to physically couple the flap to the aperture.

[0439] Various aspects of the present disclosure relate to isolation of electroadhesive or electrostatic devices in apparel. For example, aspect 152 may include, or may optionally be combined with any of the preceding aspects or examples to include, an electrode assembly for electroadhesive coupling, the electrode assembly comprising a planar conductive member and a housing surrounding at least a portion of the conductive member, wherein the housing may include a flexible polymer substrate provided adjacent to at least a first surface of the conductive member, and a dielectric member including a first portion disposed adjacent to an opposing second surface of the conductive member, and a second portion disposed adjacent to a first side edge of the conductive member and coupled to the flexible polymer substrate.

[0440] Aspect 153 may include, or may alternatively be combined with aspect 152 to include, the dielectric member including a third portion disposed adjacent a second side edge of the conductive member opposite the first side edge and coupled to the flexible polymer substrate.

[0441] Aspect 154 may include, or may alternatively be combined with aspect 152 or 153 to include, the polymer substrate being coupled to the first side edge of the conductive member.

[0442] Aspect 155 may include, or may alternatively be combined with any one or more of aspects 152-154 to include, the planar conductive member comprising a metal deposited on a polymer substrate, and the dielectric member may include a substantially non-conductive material deposited on the metal.

[0443] Aspect 156 may include, or may alternatively be combined with any one or more of aspects 152 - 155 to include, the dielectric member comprising an elastomeric dielectric ink having a dielectric constant that may be greater than the dielectric constant of air.

[0444] Aspect 157 may include, or may alternatively be combined with any one or more of aspects 152 - 156 to include, the thickness of the dielectric member adjacent to the first surface of the conductive member may be less than about 30 microns.

[0445] Aspect 158 ​​may include, or may optionally be combined with any one or more of aspects 152-157 to include, the housing having a conductive pathway disposed in a portion of the polymer substrate or dielectric member, and the housing may be configured to sealingly isolate the conductive member.

[0446] Aspect 159 may include, or may optionally be combined with any one or more of aspects 152 - 158 to include, the dielectric member comprising a flexible dielectric material.

[0447] Aspect 160 may include, or may optionally be combined with any one or more of aspects 152-159 to include, a smoothing agent disposed on the dielectric member side of the housing, wherein the smoothing agent may be configured to reduce a coefficient of friction characteristic of the housing.

[0448] Aspect 161 may include, or may alternatively be combined with any one or more of aspects 152-160 to include, the housing and the conductive member as the flexible or compliant member.

[0449] Aspect 162 may include, or may optionally be combined with any of the preceding aspects or examples to include, an electroadhesion clutch device comprising a first electrode assembly and a second electrode assembly, the first electrode assembly comprising a first conductive portion that may be at least partially covered by a first dielectric insulator, the second electrode assembly comprising a second conductive portion that may be at least partially covered by a second dielectric insulator, wherein the first and second conductive portions have different widths, and wherein the first and second electrode assemblies may at least partially overlap at their respective surfaces comprising the first and second dielectric insulators, and the first electrode assembly may be movable relative to the second electrode assembly in a lengthwise direction of the first conductive portion.

[0450] Aspect 163 may include, or may alternatively be combined with aspect 162 to include, a clutch frame, wherein the second electrode assembly may be fixed relative to the clutch frame and the first electrode assembly may be movable relative to the clutch frame.

[0451] Aspect 164 may include, or may alternatively be combined with aspect 162 or 163 to include, the first and second conductive portions having different surface area characteristics.

[0452] Aspect 165 may include, or may optionally be combined with any one or more of aspects 162 - 164 to include, that the first planar surface of the first conductive portion may be parallel to and overlap with the second planar surface of the second conductive portion.

[0453] Aspect 166 may include, or may alternatively be combined with any one or more of aspects 162-165 to include, the first electrode assembly being movable relative to the second electrode assembly in a width direction of the first conductive portion.

[0454] Aspect 167 may include, or may alternatively be combined with aspect 166 to include, a clutch frame configured to couple the first and second electrode assemblies such that the conductive portions are parallel and at least partially overlap.

[0455] Aspect 168 may include, or may alternatively be combined with aspect 167 to include, a resilient tensioner coupling the clutch frame and the first electrode assembly, wherein the resilient tensioner may be configured to bias the first and second electrode assemblies into surface contact at a surface including the first and second dielectric insulators.

[0456] Aspect 169 may include, or may optionally be combined with any one or more of aspects 162-168 to include, an electrical signal generator configured to provide first and second signals to first and second conductive portions of the electrode assembly, respectively, wherein the first and second signals comprise respective portions of an alternating current (AC) clutch control signal, and in response to the first and second signals, an electroadhesive attraction force may be generated between the first and second electrode assemblies.

[0457] Aspect 170 may include, or may optionally be combined with any of the preceding aspects or examples to include, an electrode arrangement for electroadhesive coupling, the electrode arrangement comprising a first substrate, a conductive first trace disposed on the flexible substrate, the first trace having a height, a width, and a length, and a dielectric member disposed on the conductive trace opposite the substrate, wherein at least a portion of the dielectric member extends over a side edge of the first trace and can be coupled to the flexible substrate.

[0458] Aspect 171 can include, or can alternatively be combined with aspect 170 to include, the first substrate comprising a thin film polymer substrate.

[0459] Aspect 172 may include, or may alternatively be combined with aspect 170 or 171 to include, a dielectric member extending over multiple sides of the first trace on the first substrate and encapsulating at least a portion of the first trace.

[0460] Aspect 173 may include, or may alternatively be combined with aspect 172 to include, a conductive via electrically coupled to the external clutch signal driver and the first trace, wherein the conductive via provides an electrical signal path through the first substrate or through the dielectric member.

[0461] Aspect 174 may include, or may alternatively be combined with any one or more of aspects 170 - 173 to include, the dielectric member comprising a dielectric ink deposited on the first trace and the surface of the first substrate.

[0462] Aspect 175 may include, or may alternatively be combined with any one or more of aspects 170 - 174 to include, the dielectric member comprising a dielectric polymer printed on the first trace and the surface of the first substrate.

[0463] Aspect 176 may include, or may optionally be combined with any one or more of aspects 170 - 175 to include, that the dielectric member may have a dielectric constant greater than a dielectric constant of air.

[0464] Aspect 177 may include, or may optionally be combined with any one or more of aspects 170 - 176 to include, that the dielectric member may have a dielectric constant that is less than a dielectric constant of air.

[0465] Aspect 178 may include, or may optionally be combined with any one or more of aspects 170 - 177 to include, that the thickness of the dielectric member adjacent the first trace may be less than approximately 30 microns.

[0466] Aspect 179 may include, or may alternatively be combined with any one or more of aspects 170 - 178 to include, a polymer smoothing agent disposed on the dielectric member opposite the first trace.

[0467] Various aspects of the present disclosure relate to using electroadhesion devices or components thereof with textiles and other materials. For example, aspect 180 may include, or may optionally be combined with any of the preceding aspects or examples to include, a wearable article comprising a textile configured to be worn by a wearer, and an electroadhesion clutch secured to the textile, the electroadhesion clutch comprising a first electrode assembly comprising a first conductive member, a second electrode assembly comprising a second conductive member that partially covers the first conductive member, an elastic housing in which the first and second electrode assemblies may be positioned, the elastic housing forming a first bond with the first conductive member at a first location on the elastic housing and forming a second bond with the second conductive member near a second location on the elastic housing that is different from the first location, and an electrical signal generator configured to provide first and second signals, respectively, to the first and second conductive members of the electrode assemblies, wherein the first electrode assembly may be configured to slide laterally relative to the second electrode assembly when the first and second signals are not applied, and remain stationary relative to the second electrode assembly when the first and second signals are applied. In aspect 180, the electroadhesion clutch may be configured to inhibit an increase in an opening size when the first and second signals are applied to the first and second electrode assemblies, and wherein the opening size is enabled to increase when the first and second signals are not applied.

[0468] Aspect 181 may include, or may optionally be combined with aspect 180 to include, the elastic housing being a waterproof elastic housing.

[0469] Aspect 182 may include, or may alternatively be combined with aspect 181 to include, the resilient waterproof housing being configured to return the first and second electrode assemblies to a relaxed position when the force is removed from the resilient waterproof housing.

[0470] Aspect 183 may include, or may alternatively be combined with aspect 182 to include, that the resilient waterproof housing may be formed at least in part from a polymer configured to form first and second bonds with the first and second conductive members, respectively.

[0471] Aspect 184 may include, or may optionally be combined with aspect 183 to include, the polymer being a thermoplastic polyurethane (TPU).

[0472] Aspect 185 may include, or may alternatively be combined with aspect 184 to include, the first conductive member forming a hole proximate a first location where the first bond may be formed, and the second conductive member forming a hole proximate a second location where the second bond may be formed.

[0473] Aspect 186 may include, or may alternatively be combined with aspect 185 to include, the first and second conductive members being formed of a polyester film.

[0474] Aspect 187 may include, or may optionally be combined with any one or more of aspects 180-186 to include, the electroadhesion clutch further comprising a controller operably coupled to the electrical signal generator and configured to cause the electrical signal generator to apply the first and second signals based on the received input.

[0475] Aspect 188 may include, or may optionally be combined with any one or more of aspects 180-187 to include, the electroadhesive clutch further comprising a sensor operably coupled to the controller configured to output a sensor signal based on a detected condition of the adaptive apparel article, and the controller may be configured to receive the sensor signal as input.

[0476] Aspect 189 may include, or may optionally be combined with aspect 188 to include, the sensor being at least one of an accelerometer, a gyroscope, or a pressure sensor.

[0477] Aspect 190 may include, or may optionally be combined with any of the preceding aspects or examples to include, a method of manufacturing an adaptive apparel article, the method comprising forming a textile configured to be worn by a wearer and securing an electroadhesive clutch to the textile, the electroadhesive clutch comprising a first electrode assembly comprising a first conductive member, a second electrode assembly comprising a second conductive member partially covering the first conductive member, an elastic housing in which the first and second electrode assemblies are positioned, the elastic housing forming a first bond with the first conductive member at a first location of the elastic housing and forming a second bond with the second conductive member near a second location of the elastic housing different from the first location, and an electrical signal generator configured to provide first and second signals, respectively, to the first and second conductive members of the electrode assemblies, wherein the first electrode assembly may be configured to slide laterally relative to the second electrode assembly when the first and second signals are not applied, and remain stationary relative to the second electrode assembly when the first and second signals are applied. In aspect 190, the electroadhesive clutch may be configured to inhibit an opening size from increasing when the first and second signals are applied to the first and second electrode assemblies, and to enable the opening size to increase when the first and second signals are not applied.

[0478] Aspect 191 may include, or may optionally be combined with aspect 190 to include, the elastic housing being a waterproof elastic housing.

[0479] Aspect 192 may include, or may alternatively be combined with aspect 191 to include, the resilient waterproof housing being configured to return the first and second electrode assemblies to a relaxed position when the force is removed from the resilient waterproof housing.

[0480] Aspect 193 may include, or may alternatively be combined with aspect 192 to include, the resilient waterproof housing being formed at least in part from a polymer configured to form first and second bonds with the first and second conductive members, respectively.

[0481] Aspect 194 may include, or may optionally be combined with aspect 193 to include, the polymer being a thermoplastic polyurethane (TPU).

[0482] Aspect 195 may include, or may alternatively be combined with aspect 194 to include, the first conductive member forming a hole proximate a first location where a first bond may be formed, and the second conductive member forming a hole proximate a second location where a second bond may be formed.

[0483] Aspect 196 may include, or may alternatively be combined with aspect 195 to include, the first and second conductive members being formed of or including a polyester film.

[0484] Aspect 197 may include, or may optionally be combined with any one or more of aspects 190-196 to include, the electroadhesion clutch further comprising a controller operably coupled to the electrical signal generator and configured to cause the electrical signal generator to apply the first and second signals based on the received input.

[0485] Aspect 198 may include, or may optionally be combined with aspect 197 to include, the electroadhesive clutch further comprising a sensor operably coupled to the controller and configured to output a sensor signal based on a detected condition of the adaptive apparel article, and the controller may be configured to receive the sensor signal as input.

[0486] Aspect 199 may include, or may optionally be combined with aspect 198 to include, the sensor being at least one of an accelerometer, a gyroscope, or a pressure sensor.

[0487] Each of these non-limiting aspects may stand alone or may be combined in various permutations or combinations with one or more of the other aspects, examples, or features discussed elsewhere herein.

[0488] The above description includes reference to the accompanying drawings, which form a part of the detailed description. The accompanying drawings show specific embodiments in which the present invention can be implemented. These embodiments are also referred to as "examples" in this article. Such examples may include elements other than those shown or described. However, the inventors have also contemplated examples in which only those shown or described elements are provided. In addition, the inventors have also contemplated examples using any combination or arrangement of those elements shown or described (or one or more aspects thereof), either with respect to a specific example (or one or more aspects thereof), or with respect to other examples shown or described herein (or one or more aspects thereof).

[0489] In this document, as is common in patent documents, the terms "a" or "an" are used to include one or more than one, independent of any other example or usage of "at least one" or "one or more." In this document, the term "or" is used to refer to a non-exclusive "or," so that "A or B" includes "A but not B," "B but not A," and "A and B," unless otherwise noted. In this document, the terms "including" and "in which" are used as the plain-English equivalents of the respective terms "comprising" and "wherein." Furthermore, in the claims that follow, the terms "including" and "comprising" are open-ended, that is, systems, apparatus, articles, compositions, formulations, or processes that include elements in addition to those listed after such terms in a claim are still considered to fall within the scope of the claim. Furthermore, in the claims that follow, the terms "first," "second," and "third," etc. are used merely as labels and are not intended to impose numerical requirements on their objects.

[0490] Geometric terms, such as "parallel" or "perpendicular" or "circular" or "quadratic," do not require absolute mathematical precision unless the context indicates otherwise. Instead, such geometric terms allow for variations due to manufacturing or functional equivalents. For example, if an element is described as "circular" or "substantially circular," parts that are not exactly circular (e.g., slightly elliptical or polygonal) are still included in the description.

[0491] The method examples described herein may be at least partially machine or computer implemented. Some examples may include a computer-readable medium or machine-readable medium encoded with instructions that are operable to configure an electronic device to perform the methods described in the above examples. The implementation of such methods may include code, such as microcode, assembly language code, high-level language code, etc. Such code may include computer-readable instructions for performing various methods. The code may form part of a computer program product. In addition, in an example, the code may be tangibly stored on one or more volatile, non-transitory or non-volatile tangible computer-readable media, such as during execution or at other times. Examples of these tangible computer-readable media may include, but are not limited to, hard disks, removable disks, removable optical disks (such as optical disks and digital video disks), cassette tapes, memory cards or memory sticks, random access memories (RAMs), read-only memories (ROMs), etc.

[0492] The above description is intended to be illustrative and not restrictive. For example, the above examples (or one or more aspects thereof) may be used in combination with each other. For example, other embodiments may be used by a person of ordinary skill in the art after reading the above description. The abstract is provided to allow the reader to quickly determine the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. In addition, in the above detailed description, various features may be combined together to simplify the disclosure. This should not be interpreted as meaning that unclaimed disclosed features are essential to any claim. On the contrary, the subject matter of the invention may have fewer than all the features of a particular disclosed embodiment. Therefore, the following claims are hereby incorporated into the detailed description as examples or embodiments, each claim independently serving as a separate embodiment, and it is expected that such embodiments may be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims and the full scope of equivalents to these claims.

Claims

1. An electric adhesion clutch device, comprising: a first electrode assembly including a first conductive portion at least partially covered by a first dielectric insulator; a second electrode assembly including a second conductive portion at least partially covered by a second dielectric insulator; an electrical signal generator configured to provide first and second signals to first and second conductive portions of the electrode assembly, respectively, wherein the first and second signals comprise respective opposite polarity portions of an alternating current (AC) signal; as well as an accelerometer configured to measure movement of the clutch device, wherein the electrical signal generator is configured to generate the alternating current (AC) signal based on the measured movement; Wherein the first and second electrode assemblies at least partially overlap and are configured to slide relative to each other at respective surfaces thereof including the first and second dielectric insulators.

2. The electroadhesion clutch device according to claim 1, wherein: At least one of the first and second electrode assemblies is configured to move linearly relative to the other.

3. The electroadhesion clutch device according to claim 1, wherein: The electrical signal generator is configured to generate the alternating current (AC) signal as a pulse width modulated signal having a duty cycle of approximately 50%.

4. The electroadhesion clutch device according to claim 1, wherein: The electrical signal generator is configured to generate the alternating current (AC) signal as a pulse width modulated signal having an average duty cycle of approximately 50%.

5. The electroadhesion clutch device according to claim 1, wherein: The alternating current (AC) signal has a frequency of at least about 10 Hz.

6. The electroadhesion clutch device according to claim 5, wherein: The alternating current (AC) signal has a frequency of less than about 50 Hz.

7. The electroadhesion clutch device of claim 1 , further comprising an accelerometer configured to measure motion of a body to which the clutch device is coupled, wherein: The electrical signal generator is configured to generate the alternating current (AC) signal based on the measured motion.

8. The electroadhesion clutch device according to claim 1, wherein: The accelerometer is configured to measure a magnitude of acceleration of at least a portion of the clutch device, and wherein the electrical signal generator is configured to generate the alternating current (AC) signal having an amplitude and / or frequency characteristic that depends on the magnitude of the measured acceleration.

9. The electroadhesion clutch device according to claim 1, wherein: The accelerometer is configured to measure a frequency of acceleration variations of at least a portion of the clutch device, and wherein the electrical signal generator is configured to generate the alternating current (AC) signal having an amplitude and / or frequency characteristic dependent on the frequency of the measured acceleration variations.

10. The electroadhesion clutch device of claim 1, further comprising a processor circuit configured to control the electrical signal generator to generate the alternating current (AC) signal based on information from an accelerometer about the acceleration of the clutch device or about the acceleration of a body coupled to the clutch device.

11. The electroadhesion clutch device according to claim 10, further comprising an accelerometer, wherein: The processor circuit is configured as follows: receiving an acceleration indication signal from an accelerometer; identifying oscillatory motion based on an acceleration-indicative signal from an accelerometer; as well as The electrical signal generator is controlled based on the identified oscillating motion.

12. The electroadhesion clutch device according to claim 11, wherein: The processor circuit is configured to identify an amplitude or frequency characteristic of the oscillatory motion and, in response, update an amplitude characteristic of the alternating current (AC) signal, thereby updating a shear force resistance characteristic of the clutch device.

13. The electroadhesion clutch device of claim 1, further comprising a processor circuit configured to receive a clutch force indication and, in response, control the electrical signal generator to update a frequency or amplitude characteristic of the alternating current (AC) signal based on the clutch force indication.

14. The electroadhesion clutch device of claim 13, further comprising a displacement sensor configured to provide the clutch force indication based on information regarding the relative displacement of the first and second electrode assemblies.

15. A wearable garment having controllably expandable and contractible portions, the wearable garment comprising: a clutch device coupled to the expandable and contractible portion, the clutch device comprising a substantially planar first conductive portion at least partially covered by a first dielectric insulator and a substantially planar second conductive portion at least partially covered by a second dielectric insulator; an electrical signal generator configured to provide first and second signals to first and second conductive portions of the clutch device, respectively, wherein the first and second signals comprise alternating current (AC) clutch control signals; as well as a sensor configured to sense motion or orientation of the wearable garment, wherein the electrical signal generator is configured to update a frequency or amplitude characteristic of the alternating current (AC) clutch control signal based on a sensor signal from the sensor, the sensor signal including information about the sensed motion or orientation of the wearable garment; Wherein, the first and second conductive portions of the clutch device at least partially overlap at respective surfaces comprising the first and second dielectric insulators.

16. The wearable garment of claim 15, further comprising a displacement sensor configured to measure a change in size of the expandable and contractible portion, wherein The electrical signal generator is configured to update a frequency or amplitude characteristic of the alternating current (AC) clutch control signal based on the measured change in size of the expandable and contractible portions.

17. The wearable garment of claim 15, wherein: The electrical signal generator is configured to generate the alternating current (AC) clutch control signal as a pulse width modulated signal having a duty cycle of approximately 50%.

18. The wearable garment of claim 17, wherein: The alternating current (AC) clutch control signal has a frequency of at least about 10 Hz and less than about 50 Hz.

19. An electroadhesion clutch device, comprising: a first electrode assembly including a planar first conductive portion; a second electrode assembly including a planar second conductive portion; a first dielectric member disposed between the first and second conductive portions; an electrical signal generator configured to provide first and second signals to first and second conductive portions of the electrode assembly, respectively, wherein the first and second signals comprise respective opposite polarity portions of an alternating current (AC) clutch control signal; as well as an accelerometer configured to measure movement of the clutch device, and wherein the electrical signal generator is configured to generate the alternating current (AC) clutch control signal based on the measured movement; Wherein, the first and second electrode assemblies at least partially overlap at a surface including the first and second conductive portions.

20. The electroadhesion clutch device according to claim 19, further comprising a device housing, wherein: The first electrode assembly is substantially fixed relative to the device housing, and wherein the second electrode assembly is configured to move relative to the device housing and the first electrode assembly.

21. The electroadhesion clutch device according to claim 19, wherein: The first dielectric member is coupled to the first conductive portion and is disposed between first and second conductive portions of the device.

22. The electroadhesion clutch device of claim 21, further comprising a second dielectric member coupled to the second conductive portion and disposed between the first dielectric member and the second conductive portion of the second electrode assembly.

23. The electroadhesion clutch device according to claim 19, wherein: The electrical signal generator is configured to generate the alternating current (AC) clutch control signal as a pulse width modulated signal having an average duty cycle of approximately 50%.

24. The electroadhesion clutch device according to claim 23, wherein: The alternating current (AC) clutch control signal has a frequency of at least about 10 Hz and less than about 50 Hz.

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