Low Voltage Electrostatic Jamming Device

Abstract

At least some embodiments of the present disclosure an electrostatic sheet jamming device comprising a first sheet having a first conductive layer, a first dielectric layer disposed adjacent to the first conductive layer, and a second sheet comprising a second conductive layer and disposed proximate to the first dielectric layer. The first dielectric layer is disposed between the first conductive layer and the second conductive layer. The first sheet and the second sheet are non-extensible and flexible, wherein the first sheet and the second sheet are slidable relative to each other in a first state. The first sheet and the second sheet are jammed with each other in a second state when a voltage is applied between the first conductive layer and the second conductive layer. In some embodiments, the applied voltage is less than or equal to a break-down voltage of air at a distance between the first conductive layer and the second conductive layer.

What is claimed is: 
     
         1 . An electrostatic sheet jamming device comprising:
 a first sheet comprising a first conductive layer,   a first dielectric layer disposed adjacent to the first conductive layer,   a second sheet comprising a second conductive layer and disposed proximate to the first dielectric layer, wherein the first dielectric layer is disposed between the first conductive layer and the second conductive layer,   wherein the first dielectric layer has a thickness less than or equal to 10 micrometers,   wherein the first sheet and the second sheet are non-extensible and flexible,   wherein the first sheet and the second sheet are slidable relative to each other in a first state,   wherein the first sheet and the second sheet are jammed with each other in a second state when a voltage is applied between the first conductive layer and the second conductive layer, and   wherein the applied voltage is less than or equal to a break-down voltage of air at a distance between the first conductive layer and the second conductive layer.   
     
     
         2 . The jamming device of  claim 1 , wherein the first dielectric layer is a coating on the first sheet. 
     
     
         3 . The jamming device of  claim 1 , further comprising a second dielectric layer, wherein the second sheet has a first surface and a second surface opposing the first surface, wherein the second conductive layer is on the first surface of the second sheet, and wherein the second dielectric layer is disposed proximate closer to the second surface of the second sheet than the first surface of the second sheet. 
     
     
         4 . The jamming device of  claim 1 , wherein the second dielectric layer is coated on the second sheet. 
     
     
         5 . The jamming device of  claim 1 , wherein the applied voltage is no greater than 100V. 
     
     
         6 . The jamming device of  claim 1 , wherein the distance between the first conductive layer and the second conductive layer in the first state is no greater than 10 micrometers. 
     
     
         7 . The jamming device of  claim 1 , further comprising:
 one or more urging elements configured to keep the first conductive layer and the second conductive layer close to each other.   
     
     
         8 . The jamming device of  claim 7 , wherein the one or more urging elements comprise at least one of a highly compliant outer layer, a highly compliant inner layer, a fixed clearance limiting element, and a spring element. 
     
     
         9 . The jamming device of  claim 1 , wherein the first dielectric layer has a thickness less than or equal to 5 micrometers. 
     
     
         10 . The jamming device of  claim 1 , wherein a direct path between the first conductive layer and the second conductive layer for at least one part of the jamming device is approximately the same length as the distance between the first and second conductive layers in the second state. 
     
     
         11 . An electrostatic sheet jamming device comprising:
 a first set of sheets, each sheet comprising a first conductive layer,   a second set of sheets, each sheet comprising a second conductive layer,   a set of dielectric layers,   a first connector electrically conductively connected to first conductive layers of at least part of the first set of sheets,   a second connector electrically conductively connected to second conductive layers of at least part of the second set of sheets,   wherein the first set of sheets and the second set of sheets are interdigitated,   wherein each of the adjacent pair of the first set of sheets and the second set of sheets has one of the set of dielectric layers disposed in between,   wherein each of the set of dielectric layers has a thickness less than or equal to 10 micrometers,   wherein the first set of sheets and the second set of sheets are slidable relative to each other in a first state,   wherein the first set of sheets and the second set of sheets are jammed with each other in a second state when a voltage is applied between the first connector and the second connector, and   wherein the applied voltage is less than or equal to a break-down voltage of air at a distance between adjacent conductive layers of one of the first set of sheets and one of the second set of sheets.   
     
     
         12 . The jamming device of  claim 11 , wherein a distance between an adjacent pair of the first conductive layer and the second conductive layer in the first state is no greater than 10 micrometers. 
     
     
         13 . The jamming device of  claim 11 , wherein the applied voltage is less than 100V. 
     
     
         14 . The jamming device of  claim 11 , wherein at least one of the first set of sheets is patterned such that it is extensible in at least one axis. 
     
     
         15 . The jamming device of  claim 11 , wherein at least one of the first set of sheets has a plurality of protruded features.