Flexible and rigid electrodes with a dielectric layer enable low-voltage electroadhesive clutching for normal, shear, and moment loads.
A bidirectional clutch driving mechanism boosts clutch capacity only under high torque, preventing slip without a larger actuator.
A slidable muff-coupling disconnects the drum from the planetary reducer, easing rope release and stabilizing clutch re-engagement.
A selector with separate actuator and release portions reorients multi-row cams with less drive force, improving clutch stability and response.