Fiber Electrode Electrostatic Gripper for Soft Object Contact

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Solution Overview

Problem

Conventional electrostatic chucks face issues with reverse electrification, insufficient contact area, and weak attraction force when dealing with soft objects like human skin, due to the use of metal foils that are rigid and prone to kinking, leading to reduced durability and effectiveness.

Innovation Solution

Employing a fiber component with electroconductive treatment as the electrode, sandwiched between soft polymeric organic substances, to enhance durability and attraction force, allowing for reliable gripping of soft objects by improving flexibility and contact area.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Force

If metal foil is used as an electrode in electrostatic attractors, then electrostatic attraction force is generated, but the metal foil is rigid and prone to kinking, reducing contact area with soft objects

Engineering Contradiction:

Improveelectrostatic attraction forceVSAvoidcontact area

Core Design Contradiction:

ForceVSArea of stationary object

Solution Approach 1:

The patent replaces rigid metal foil with a flexible fiber component that can conform to the surface of soft objects. The fiber component maintains electrostatic functionality while providing flexibility and adaptability to curved surfaces, thereby increasing contact area without sacrificing attraction force capability

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The patent creates a composite structure by combining the fiber component with soft polymeric organic substances. This composite material integrates the electrostatic properties needed for attraction with the mechanical flexibility required to maintain contact with soft, curved surfaces like human skin

Inventive Principle:

Principle #40Composite materials

2Force

If metal foil is used as an electrode, then electrostatic attraction is achieved, but the metal foil has poor anti-kink characteristic and forms folds easily, reducing durability

Engineering Contradiction:

Improveelectrostatic attraction forceVSAvoiddurability

Core Design Contradiction:

ForceVSReliability

Solution Approach 1:

The flexible fiber component resists kinking and folding compared to rigid metal foil. This improved structural integrity enhances durability and reliability for repeated use while maintaining the necessary electrostatic attraction capability

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The patent changes the physical parameters of the electrode material from rigid metal foil to flexible fiber component. This parameter change in material properties improves anti-kink characteristics and durability while preserving electrostatic functionality

Inventive Principle:

Principle #35Parameter changes

3Area of stationary object

If conventional electrostatic chuck is used with flat surfaces, then sufficient contact area is achieved for hard objects, but soft curved objects like human skin have insufficient contact area

Engineering Contradiction:

Improvecontact areaVSAvoidadaptability to soft curved objects

Core Design Contradiction:

Area of stationary objectVSAdaptability or versatility

Solution Approach 1:

The flexible fiber component can conform to curved surfaces like human skin, enabling sufficient contact area to be achieved with soft curved objects. This flexibility provides adaptability to various object shapes while maintaining adequate contact for effective attraction

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The fiber component provides dynamic adaptability by flexing and conforming to the shape of the object being attracted. This dynamic behavior allows the electrode to maintain optimal contact area regardless of whether the object is flat or curved

Inventive Principle:

Principle #15Dynamics

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The electrostatic attractor achieves higher durability and improved attraction retentivity for soft objects, enabling repeated use without adhesives, and facilitating the transportation and automation of fragile items.

Implementation Method 1

capable of attracting and grasping (which may be referred to as 'attraction grasping' below) an object to be attracted using electrostatic force

Methodology Applied

Scientific EffectElectrostatic force: Electrostatics

Implementation Method 2

a fiber component with electroconductive treatment as the electrode

Methodology Applied

Scientific EffectElectroconduction: Conduction (electrical)

Data Source

PatentEP4197718B1Electrostatic attractor and robot hand comprising same

Publication Date: 2025.10.29 CREATIVE TECHNOLOGY CORP

Figure 1(i)~1(iii)
Figure 2(I)~3
Figure 4

AI summary

To provide an electrostatic attractor having excellent durability and capable of achieving more reliable attraction and gripping of an object to be attracted with electrostatic force. An electrostatic attractor includes a laminate sheet formed by sequentially laminating at least a first soft polymeric organic substance, an electrode, and a second soft polymeric organic substance, and a power source device configured to apply voltage to the electrode, electrostatic force generated by applying voltage to the electrode being used to attract and grasp an object to be attracted, with one of the soft polymeric organic substances as a contact surface, in which the first soft polymeric organic substance and/or the second soft polymeric organic substance have tensile modulus of 1 MPa or more and less than 100 MPa, and volume resistivity of 1 × 108 to 1013 Ω·cm, and the electrode is a fiber component subjected to electroconductive treatment. A robot hand includes the electrostatic attractor.