Patent Grant
11979098
The present disclosure is related to jamming devices that can be used for motion resistance.
At least some embodiments of the present disclosure direct to an electrostatic sheet jamming apparatus comprising a first sheet comprising a first conductive layer, the first sheet comprising a set of first features protruded from a first general plane of the first sheet, 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 second sheet comprising a set of second features protruded from a second general plane of the second sheet. 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. At least some of the set of first features are configured to mate with at least some of the set of second features. The first sheet and the second sheet are movable 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.
At least some embodiments of the present disclosure direct to an electrostatic sheet jamming apparatus comprising: a first set of sheets, each of the first set of sheets comprising a first conductive layer, a second set of sheets, each of the second set of sheets comprising a second conductive layer, a first connector electrically conductively connected to the first conductive layers of at least part of the first set of sheets, a second connector electrically conductively connected to the second conductive layers of at least part of the second set of sheets, and a set of dielectric layers. The first set of sheets are connected on two edges. The second set of sheets are connected on two edges. 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. The first set of sheets and the second set of sheets are movable relative to each other in a first state. 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.
At least some embodiments of the present disclosure direct to an electrostatic sheet jamming apparatus comprising a first sheet comprising 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 made of non-extensible materials and flexible. The first sheet comprises a set of first slit features such that the first sheet is extensible on a first axis. The second sheet comprises a set of second slit features such that the second sheet is extensible on a second axis. 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 locked against each other in a second state when a voltage is applied between the first conductive layer and the second conductive layer.
The accompanying drawings are incorporated in and constitute a part of this specification and, together with the description, explain the advantages and principles of the invention. In the drawings,
In the drawings, like reference numerals indicate like elements. While the above-identified drawings, which may not be drawn to scale, set forth various embodiments of the present disclosure, other embodiments are also contemplated, as noted in the Detailed Description. In all cases, this disclosure describes the presently disclosed disclosure by way of representation of exemplary embodiments and not by express limitations. It should be understood that numerous other modifications and embodiments can be devised by those skilled in the art, which fall within the scope and spirit of this disclosure.
Unless otherwise indicated, all numbers expressing feature sizes, amounts, and physical properties used in the specification and claims are to be understood as being modified in all instances by the term “about.” Accordingly, unless indicated to the contrary, the numerical parameters set forth in the foregoing specification and attached claims are approximations that can vary depending upon the desired properties sought to be obtained by those skilled in the art utilizing the teachings disclosed herein. The use of numerical ranges by endpoints includes all numbers within that range (e.g. 1 to 5 includes 1, 1.5, 2, 2.75, 3, 3.80, 4, and 5) and any range within that range.
As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” encompass embodiments having plural referents, unless the content clearly dictates otherwise. As used in this specification and the appended claims, the term “or” is generally employed in its sense including “and/or” unless the content clearly dictates otherwise.
Spatially related terms, including but not limited to, “lower,” “upper,” “beneath,” “below,” “above,” and “on top,” if used herein, are utilized for ease of description to describe spatial relationships of an element(s) to another. Such spatially related terms encompass different orientations of the device in use or operation in addition to the particular orientations depicted in the figures and described herein. For example, if an object depicted in the figures is turned over or flipped over, portions previously described as below or beneath other elements would then be above those other elements.
As used herein, when an element, component or layer for example is described as being “on” “connected to,” “coupled to” or “in contact with” another element, component or layer, it can be directly on, directly connected to, directly coupled with, in direct contact with, or intervening elements, components or layers may be on, connected, coupled or in contact with the particular element, component or layer, for example. When an element, component or layer for example is referred to as being “directly on,” “directly connected to,” “directly coupled to,” or “directly in contact with” another element, there are no intervening elements, components or layers for example.
Articles with adjustable stiffness and variable resistance to motion are often needed. For example, a flexible display is bendable and capable of sustaining a bent position. At least some embodiments of the present disclosure are directed to an electrostatic jamming device that generates a controlled resistance to motion. Such a jamming device can be incorporated into various devices, systems, and structures to resist different motions, for example, bending motions, translations, rotations, and the like. The motions can be largely planar, or along or within surfaces.
Sheets of materials can be jammed together with vacuum to resist motion. Sheets of materials can be jammed together with electrostatics. This eliminates the need for a vacuum source and gas impermeable envelope. Previous electrostatic jamming devices had several limitations. Some devices enable only simple bending of sheets which can only be shaped into developable surfaces (or a smooth surface with zero Gaussian curvature). The previous devices tend to be difficult to build and operate at high voltages.
At least some embodiments of the present disclosure direct to a jamming device that can be used to allow bending in one state and resist bending in another state. In some embodiments, the jamming device includes multiple sheets and the sheets can be electrostatically jammed to resist motions. Such jamming device includes conductive layers and dielectric layers disposed between adjacent conductive layers. At least some embodiments of the present disclosure are directed to electrostatic jamming devices that can operate at low voltages yet achieve useful levels of motion resistance. Low voltage refers to a voltage that is lower than the break down voltage of air for the minimal distance between any two oppositely charged conductive layers. Some of the existing jamming devices include dielectric layers that extend well beyond conductive layers to make the shortest path in air between two oppositely charged conductors much longer than the path through the dielectric layer. This makes such jamming devices more difficult to fabricate and susceptible to pin holes or cracks in the dielectric layers because they would create a distance between oppositely charged conductors that would allow breakdown of the air (shorting and arcing). Some embodiments of the jamming devices in the present disclosure are immune to shorting or arcing despite cracks, cuts, pin holes, and other defects in the dielectric layers. In some embodiments, the conductive layers are held at or beyond the thickness of the dielectric layer and the jamming device is operated below the breakdown voltage of air for that distance. In some embodiments, jamming sheets can be cut from a continuous roll of material with no special treatment to the edges of the sheets and used to assemble a jamming device. This enables a low cost high speed manufacturing method for electrostatic sheet jamming devices where a roll of sheet material is created and then easily converted into a desired shape and assembled into a device. In some cases, the low voltage jamming device has the advantage of storing much less energy in the device and being safer for use on and near the human body.
Breakdown voltage refers to the voltage that will cause air to break down and become conductive across a gap of a given distance between two conductors. This is also known as arcing or sparking across the gap. The breakdown voltage varies with pressure. The present disclosure generally refers to the breakdown voltage of air within the range of standard pressures experienced on earth. In the present disclosure, the breakdown voltage refers to the shortest distance through air (not through other dielectric materials) between any two conductors that are not intentionally connected electrically. In the present disclosure, the value of the breakdown voltage at a given distance and pressure has been well studied for years and is generally accepted to follow Pashen's Law at gaps above several micrometers but deviate from it at smaller gaps. The breakdown voltage can be determined using a simplified formula proposed by Babrauskas, Vytenis, Arc Breakdown in Air over Very Small Gap Distances, Interflam 2013, Volume 2, pp. 1489-1498, as provided in Equation (1) below:
where V is the breakdown voltage in Volt, d is the distance between the two conductors. Breakdown strength, also referred to as dielectric strength, can be understood as the maximum electric field strength (V/m) that does not cause breakdown in the material.
Jammed state is used to describe the condition where relative motions between two adjacent parts, sheets, or structures is resisted by the introduction of an external pressure that squeezes the adjacent parts, sheets, or structures together. The relative motion refers to sliding motion, rotating motion, or translational motion between two adjacent parts, sheets, or structures in the jamming device. There is a spectrum of “jammed” intensity, which requires different forces to overcome the resistance to motion. The external pressure causing the jamming can come from a mechanical source, or application of a vacuum (so atmospheric pressure presses sheets together), from electrostatic attraction between sheets, or the like. Unjammed state, also referred to as loose state, is used to describe the condition where relative motions between adjacent sheets are not given additional resistance.
In some embodiments, the conductive layer (115, 125) can include a metal (e.g., copper, aluminum, steel), which can be annealed or hardened, laminated metal layers or foils (e.g., of the same or different metals); a conductive polymer, or a material filled with conductive particles such as carbon. In some embodiments, the sheet (110, 120) can include a support layer. The support layer can be made from paper or other fibrous material, a polymeric material (e.g., polyurethanes, polyolefins), a composite material (e.g., carbon fiber), an elastomer (e.g., silicone, styrene-butadiene-styrene), or other materials, and combinations thereof. In some cases, the support layer has a thickness no less than 50 micrometers. In some cases, the support layer has a thickness no less than 125 micrometers. In some cases, the support layer and the conductive layer can be combined into one layer. In some cases, the first conductive layer 115 is a coating on the first sheet 110. The conductive coating material may be, for example, copper, aluminum, silver, nickel, indium tin oxide, carbon, graphite, or the like. In some embodiments, the dielectric layer can include silicon oxide, aluminum oxide, titanium oxide, mixed metal oxides, mixed metal nitrides, barium titanite, or polymers such as polyimide, acrylates, or the like. In some cases, the dielectric layer can be a dielectric film. In some cases, the dielectric layer 130A is a coating on the first sheet 110. The coating material can include silicon oxide, aluminum oxide, titanium oxide, mixed metal oxides, mixed metal nitrides, barium titanite, or polymers such as polyimide, acrylates, or the like.
In some cases, the dielectric layer 130 is very thin. In some cases, the dielectric layer 130 has a thickness (D) less than or equal to 10 micrometers. In some cases, the dielectric layer 130 has a thickness (D) less than or equal to 5 micrometers. In some cases, the dielectric layer 130 has a thickness (D) less than or equal to 1 micrometers. In some cases, the distance between the first conductive layer 115 and the second conductive layer 125 is no greater than 10 micrometers. In some cases, the jamming device is jammed with a low voltage. In some cases, the low voltage is no greater than 100V. In some cases, such voltage is less than or equal to a break-down voltage of a distance between the first and the second conductive layer.
Electrostatic jamming can be understood by modeling each set of adjacent oppositely charged conductive layers with dielectric material between them as a parallel plate capacitor. The opposite charge on those layers are attracted to each other. It can be shown that the attractive force creates a compressive pressure on the dielectric material that can be represented by Equation (2):
where εr is the relative permittivity (or dielectric constant) of the dielectric material, ε0 is the permittivity of free space (or vacuum permittivity or electric constant, 8.854187817 . . . ×10−12 F/m), V is the voltage potential between the two conductive layers, and d is the distance between the two conductive layers (i.e., the thickness of dielectric material(s)).
In some cases, the total thickness of the dielectric material includes one or more layers of dielectric material, and may also include some air gap or debris that was trapped between the conductive layers. When multiple dielectric layers exist (including multiple films, coatings, air, debris, etc) they can be modeled in series. In this case each layer can be modeled as a capacitor with capacitance
where A is the total area, d is the thickness of that layer, and εr is the relative permittivity of that layer. The total capacitance of the layers in series can be calculated as
where Ctot is the total capacitance and C1, C2 . . . are the capacitance of the individual layers. The total jamming pressure on the stack of dielectric material can be calculated as Equation (3):
where P is the pressure on the stack of dielectric material, Ctot is calculated above, dtot is the total thickness of the dielectric layers (i.e., the distance between adjacent two conducting layers). An average relative permittivity for this space between conducting layers can also be calculated as Equation (4):
The electrostatic jamming allows sliding motion, both translational and rotational, between oppositely charged conductive layers. The sliding interface can exist between a conductive layer and a dielectric layer, or between a dielectric layer and another dielectric layer. There may be more than one slidable interface between two adjacent oppositely charged conductive layers. When voltage is applied, the pressure created causes the surfaces of the slidable interface to press against each other and resist motion. The resistance to motion can be modeled by considering two interdigitated sets of sheets being jammed together. The resistance to sliding two uniform sets of electrostatically jammed sheets apart can be calculated as Equation (5):
F=PAμN, (5)
where F is the force required to pull the sets apart (or push them together), A is the area of overlap between the sheets (the capacitor area), μ is the coefficient of friction at the sliding interfaces, and N is the total number of interfaces. This is a simplified model, since the areas, frictions and material properties may not be constant, but it is useful to show the primary factors in electrostatic jamming.
It is desirable to have a large jamming pressure that can resist significant forces. For many applications, it is desirable to utilize a very low voltage, which increases the safety, and reduces the cost and energy consumption of the controlling electronics. The jamming performance (i.e., jamming pressure) at very low voltage, according to Equation (2), can be improved by increasing the relative permittivity of the dielectric layers, and by reducing the distance between conductive layers. Using very thin dielectric layers, on the order of a few micrometers or less than one micrometer can enable significant jamming pressures at extra low voltage levels. For example, the International Electrotechnical Commission defines an extra low voltage device to be one that does not exceed 120V d.c. Other standards in the U.K. and USA define extra-low voltage systems as not exceeding 75V d.c. or 60V d.c. Based on the calculations earlier, a pressure approximately 10% of atmospheric pressure can be achieved at 120V if the total thickness of dielectric layers is around 4.4 micrometers (assuming an average relative permittivity of 3). One of the challenges of extra low voltage electrostatic jamming, is that the jamming pressure is reduced by the square of the distance between adjacent oppositely charged conductive layers. If debris or significant airgaps exist in the slidable interface between the conductive layers, the jamming pressure can become too low to achieve a useful resistance to motion, or even to pull the layers together. For example, only 1% of atmospheric pressure is achieved at 120V if the 4.4 micrometer distance above is increased to around 9.6 micrometers by adding a 5.2 micrometer airgap. Therefore, a small dielectric distance is need for appropriate jamming pressure for a jamming device operating at a low voltage. Additionally, an airgap not only increases the total dielectric distance, but also reduces the average relative permittivity causing an even greater reduction in the jamming pressure, according to the above equations. Some embodiments of the present disclosure enable extra low voltage jamming by using very thin dielectric layers and introducing an urging means to bring the sheets together to reduce airgaps.
In some cases, the jamming device 100A includes more than two sheets. The jamming device 100A includes one or more urging elements configured to keep the first conductive layer and the second conductive layer close to each other. In some cases, the one or more urging elements is an enclosure that the sheets of the jamming device 100A are disposed within. In some cases, the urging elements are spring elements, such as foam or elastic layers that exert a small pressure on the layers so they maintain light contact and can then be close enough to be jammed together with the application of voltage. In some cases, the gap between conductive layers is filled completely with dielectric material and only a minimal amount of air or other material.
In some cases, the dielectric layer 130A covers less than one hundred percent (100%) of a circumference of the first sheet 110. In other words, the jamming device 100 has the first conductive layer 115 exposed at a portion of or the entire edge of the sheet 100, which is not covered by dielectric materials at the edge. The exposed conductive layers can facilitate electrical connections. In some cases, the dielectric layer 130A covers less than eighty percent (80%) of a circumference of the first sheet 110. In some cases, the dielectric layer 130A covers less than sixty percent (60%) of a circumference of the first sheet 110. One challenge for electrostatic jamming devices is protecting the device from electrical breakdown (or dielectric breakdown) of air. Some existing electrostatic jamming devices have used high voltages, from several hundred volts to several thousand volts. This requires the jamming device to include continuous dielectric layers that extended far beyond the conductive layers so that the shortest path between conductive layers in air is many times longer than the path between conductive layers through the dielectric layer. This is because the dielectric strength of air at most voltages is only 3 MV/m, while many dielectric materials (such as polyethylene or polyimide) have dielectric strengths of 100 or more My/m. Some embodiments of the present disclosure, including the one illustrated in
In some embodiments, the jamming device 110A can include multiple sheets, as the examples illustrated in
In some embodiments, a jamming device includes two sets of sheets, each set includes multiple sheets.
In some embodiments, some dielectric layers 132B, which is a part of the dielectric layers 130, are coated on the first set of sheets. In some embodiments, some dielectric layers 134B, which is a part of the dielectric layers 130, are coated on the second set of sheets. In some cases, each of the dielectric layers is very thin. In some cases, the thickness of each of the dielectric layers is less than or equal to 10 micrometers. In some cases, the thickness of each of the dielectric layers is less than or equal to 5 micrometers. In some cases, the thickness of each of the dielectric layers is less than or equal to 1 micrometers. In some cases, a distance between the adjacent pair of the first conductive layer and one of the second conductive layer in a loose state is no greater than 10 micrometers. In some cases, a distance between the adjacent pair of the first conductive layer and one of the second conductive layer in a loose state is no greater than 10 micrometers. In some cases, a distance between the adjacent pair of the first conductive layer and one of the second conductive layer in a loose state is no greater than 5 micrometers.
In some cases, the first set of sheets 110 has a first longitudinal axis and the second set of sheets 120 has a second longitudinal axis, and the first longitudinal axis and the second longitudinal axis are parallel to each other. In some cases, the first longitudinal axis and the second longitudinal axis has an angle greater than 0°. In some cases, the first longitudinal axis and the second longitudinal axis has an angle proximate to 90°.
The conductive layers and dielectric layers can have various arrangements. One example arrangement of a jamming device 100C is illustrated in
In some embodiments, the sheets in the jamming device can be provided in a tape form. In some cases, the tape is in a roll form.
In some embodiments, the jamming sheet (200, 200B) can be separated in a first section 210 and a second section 220. In some embodiments, the jamming sheet 200 includes lines of weakness 240 to allow easy separation of sections. In some cases, the dielectric layer has a thickness less than or equal to 10 micrometers. In some cases, the dielectric layer has a thickness less than or equal to 5 micrometers. In some cases, the dielectric layer has a thickness less than or equal to 1 micrometer. In some cases, the sheet (200, 200B) is non-extensible and flexible. In some embodiments, the first and second sections are removed from the jamming sheet 200B by die cutting, laser cutting, rotary die cutting, or other suitable techniques.
In some embodiments, a jamming device can be formed by the first section 210 of the sheet and the second section of the sheet 220. In some embodiments, the first section and the second section are movable relative each other in the loose state and are jammed with each other in the jammed state. In some cases, the jammed state is induced when a voltage is applied between the conductive layer of the first section and the conductive layer of the second section. In some cases, the applied voltage is less than or equal to a break-down voltage of a distance between the first and the second conductive layer. In some cases, the applied voltage is no greater than 100V. In some cases, the applied voltage is no greater than 200V. In some cases, the distance between the conductive layer of the first section and the conductive layer of the second section is no greater than 5 micrometers. In some cases, the distance between the conductive layer of the first section and the conductive layer of the second section is no greater than 10 micrometers. In some embodiments, the dielectric layer is a coating on the sheet 200. In some embodiments, the conductive layer is a coating on the sheet 200.
In some embodiments, the sheets are in various arrangements in a jamming device to achieve the desired functionality. In some cases, the sheets have a connector at one end, as illustrated in
The first set of jamming sheets 310 has a longitudinal axis X and the second set of jamming sheets 320 has a longitudinal axis Y. In some cases, the axis X and the axis Y form a degree greater than 0° and less than 180°. In one embodiment, the axis X and the axis Y form a degree close to 90°. In one embodiment, the axis X and the axis Y form a degree about 45°. In one embodiment, the axis X and the axis Y form a degree about 130°. In one embodiment as illustrated, the connectors (330, 340) are connecting the shorter edges of the sheets. In some embodiments, the connectors are connecting the longer edges of the sheets.
In some embodiments, the first set of sheets 310 and the second set of sheets 320 are movable relative to each other in a loose state and jammed with each other in a jammed state. In some cases, the first set of sheets 310 and/or the second set of sheets 320 can be rotated in the loose state. In some cases, the jammed state is induced when a voltage is applied to the first connector and the second connector. In some cases, the applied voltage is no greater than 100V. In some cases, the applied voltage is no greater than 200V. In some cases, the applied voltage is less than or equal to a break-down voltage of a distance between the first and the second conductive layer. In some cases, a distance between the adjacent conductive layers in a loose state is no greater than 10 micrometers. In some cases, a distance between the adjacent conductive layers in a loose state is no greater than 5 micrometers.
In the embodiment illustrated in
In some embodiments, the first set of sheets 310 and the second set of sheets 320 are movable relative to each other in a loose state and jammed with each other in a jammed state. In the example illustrated, the first set of sheets 310 and/or the second set of sheets 320 can be rotated or translated according to the arrows. In some cases, the jammed state is induced when a voltage is applied between the first connector and the second connector. In some cases, the applied voltage is no greater than 100V. In some cases, the applied voltage is no greater than 200V. In some cases, the applied voltage is less than or equal to a break-down voltage of a distance between the first and the second conductive layer. In some cases, a distance between the adjacent conductive layers in a loose state is no greater than 10 micrometers. In some cases, a distance between the adjacent conductive layers in a loose state is no greater than 5 micrometers.
In some embodiments, the sheets used in a jamming device may be a solid flat sheet. In some embodiments, the sheets used in a jamming device may be sheets having patterns, protrusions, slits, openings, and other features. In some embodiments, the sheets may include three dimensional structures but the sheets are generally flat.
In some cases, the set of features 414C and 424C have dimensions that are a few millimeters in length. In some cases, the features have dimensions that are less than one millimeter in length. In some cases, the features are a few micrometers to 50 micrometers in length. The height (H) of the set of features 414C refers to an average height of the set of features 414C from the general plane 415C. In some cases, the height of the set of features 414C is equal to or less than 10 millimeters. In some cases, the height of the set of features 414C is equal to or less than 1 millimeters. In some cases, the height of the set of features 414C is equal to or less than 50 micrometers. In some cases, each of the set of features is a prism, a pyramid, a rectangular protrusion, an ellipsoidal protrusion, a sawtooth, or a sinusoid protrusion. In some cases, the features do not change along one axis, as if they were extruded. In some cases, the features change along more than one axis, comprising discrete three-dimensional features. In some cases, the features repeat in patterns and in some cases, they are random. For example, random features with dimensions of a few microns or less can provide a desired coefficient of friction and can also provide some resistance to small debris particles.
In some embodiments, the jamming sheet 410C and the jamming sheet 420C are movable relative to each other in a loose state and jammed with each other in a jammed state. In some cases, the jammed state is induced when a voltage is applied to sheets. In some cases, the applied voltage is no greater than 500V. In some cases, the applied voltage is no greater than 50V. In some cases, the applied voltage is no greater than 100V. In some cases, the applied voltage is no greater than 200V. In some cases, the distance between adjacent conductive layers in the loose state is relatively large, allowing freedom of motion of the two sheets. The sheets can be attached to separate articles (462D and 464D) as shown in
In some embodiments, the jamming device includes urging elements that urge the sets of sheets to remain close to one another in the loose, unjammed state. One example of urging elements is shown in
The jamming device may be used in various flexible apparatus and equipment to allow the apparatus/equipment to hold a bent position.
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, 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 dielectric layer has a thickness less than or equal to 10 micrometers. 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. 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.
The jamming device of Embodiment A1, wherein the first dielectric layer is a coating on the first sheet.
The jamming device of Embodiment A1 or A2, 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.
The jamming device of any one of Embodiments A1-A3, further comprising: a second dielectric layer disposed proximate to the second sheet.
The jamming device of any one of Embodiments A1-A4, wherein the second dielectric layer is coated on the second sheet.
The jamming device of any one of Embodiments A1-A5, wherein the applied voltage is no greater than 100V.
The jamming device of any one of Embodiments A1-A6, wherein the distance between the first conductive layer and the second conductive layer in the first state is no greater than 10 micrometers.
The jamming device of any one of Embodiments A1-A7, further comprising: one or more urging elements configured to keep the first conductive layer and the second conductive layer close to each other.
The jamming device of Embodiment A8, 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.
The jamming device of any one of Embodiments A1-A9, wherein the first dielectric layer covers less than one hundred percent of a circumference of the first sheet.
The jamming device of any one of Embodiments A1-A10, wherein the first dielectric layer has a thickness less than or equal to 5 micrometers.
The jamming device of any one of Embodiments A1-A11, 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.
The jamming device of any one of Embodiments A1-A12, wherein the first sheet is separated from a large sheet having a conductive layer.
The jamming device of Embodiment A13, wherein the large sheet is a roll of sheet.
The jamming device of any one of Embodiments A1-A14, wherein the first sheet is patterned such that it is extensible in at least one axis.
The jamming device of any one of Embodiments A1-A15, wherein the first sheet has patterned openings such that it is extensible in at least one axis.
The jamming device of any one of Embodiments A1-A16, wherein the first sheet has a plurality of protruded features.
The jamming device of Embodiment A17, wherein the second sheet has a plurality of protruded features.
The jamming device of Embodiment A18, wherein at least some of the plurality of protruded features of the first sheet are mated with some of the plurality of protruded features of the second sheet in the second state.
The jamming device of any one of Embodiments A1-A19, wherein the first dielectric layer has a relative permittivity greater than 3.
The jamming device of any one of Embodiments A1-A20, wherein the first dielectric layer comprises an inorganic compound.
The jamming device of any one of Embodiments A1-A21, wherein a coefficient of friction of the first sheet is less than 0.4.
The jamming device of any one of Embodiments A1-A22, wherein the first sheet comprises a core layer providing structural support.
An electrostatic sheet jamming device comprising a first set of sheets, each of the first set of sheets comprising a first conductive layer, a second set of sheets, each of the second set of sheets 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, and a second connector electrically conductively connected to second conductive layers of at least part of the second set of sheets. The first set of sheets and the second set of sheets are interdigitated. 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. Each of the set of dielectric layers has a thickness less than or equal to 10 micrometers. The first set of sheets and the second set of sheets are slidable relative to each other in a first state. 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, where 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.
The jamming device of Embodiment B1, wherein at least some of the set of dielectric layers are coated on the first set of sheets.
The jamming device of Embodiment B2, wherein at least some of the set of dielectric layers are coated on the second set of sheets.
The jamming device of any one of Embodiments B1-B3, wherein the first set of sheets has a first longitudinal axis and the second set of sheets has a second longitudinal axis, and wherein the first longitudinal axis and the second longitudinal axis are generally parallel to each other.
The jamming device of any one of Embodiments B1-B4, 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.
The jamming device of any one of Embodiments B1-B5, wherein the first dielectric layer covers less than one hundred percent of a circumference of the first sheet.
The jamming device of any one of Embodiments B1-B6, wherein the applied voltage is no greater than 100V.
The jamming device of any one of Embodiments B1-B7, further comprising: one or more urging elements configured to keep the first set of sheets and the second set of sheets close to each other.
The jamming device of Embodiment B8, 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.
The jamming device of any one of Embodiments B1-B9, wherein the first dielectric layer covers less than one hundred percent of a circumference of the corresponding sheet.
The jamming device of any one of Embodiments B1-B10, wherein at least one of the set of dielectric layers has a thickness less than or equal to 5 micrometers.
The jamming device of any one of Embodiments B1-B11, wherein the first set of sheets are separated from a large sheet having a conductive layer.
The jamming device of Embodiment B12, wherein the large sheet is a roll of sheet.
The jamming device of any one of Embodiments B1-B13, wherein at least one of the first set of sheets is patterned such that it is extensible in at least one axis.
The jamming device of any one of Embodiments B1-B14, wherein at least one of the first set of sheets has patterned openings such that it is extensible in at least one axis.
The jamming device of any one of Embodiments B1-B15, wherein at least one of the first set of sheets has a plurality of protruded features.
The jamming device of Embodiment B16, wherein at least one of the first set of sheets has a plurality of protruded features.
The jamming device of Embodiment B17, wherein at least some of the plurality of protruded features of at least one of the first set of sheets are mated with some of the plurality of protruded features of at least one of the second set of sheets in the second state.
The jamming device of any one of Embodiments B1-B18, wherein at least one of the set of dielectric layers has a relative permittivity greater than 3.
The jamming device of any one of Embodiments B1-B19, wherein at least one of the set of dielectric layers comprises an inorganic compound.
The jamming device of any one of Embodiments B1-B20, wherein a coefficient of friction of at least one of the first set of sheets is less than 0.4.
The jamming device of any one of Embodiments B1-B21, wherein at least one of the first set of sheets comprises a core layer providing structural support.
An electrostatic sheet jamming device formed by a sheet having a conductive layer and a dielectric layer. The jamming device includes a first section of the sheet, the first section being separated from the sheet, and a second section of the sheet, the second section being separated from the sheet. The sheet is non-extensible and flexible. The first section and the second section are slidable relative to each other in a first state. The first section and the second section are jammed with each other in a second state when a voltage is applied between a conductive layer of the first section and a conductive layer of the second section.
The jamming device of Embodiment C1, wherein the applied voltage is less than or equal to a break-down voltage of air at a distance between the first and the second conductive layer.
The jamming device of Embodiment C1 or Embodiment C2, wherein the applied voltage is no greater than 100V.
The jamming device of any one of Embodiments C1-C3, wherein a distance between the first section and the second section is no greater than 10 micrometers in the first state.
The jamming device of any one of Embodiments C1-C4, further comprising: one or more urging elements configured to keep the first section and the second section close to each other.
The jamming device of Embodiment C5, 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.
The jamming device of any one of Embodiments C1-C6, wherein the sheet is packaged in a roll.
The jamming device of any one of Embodiments C1-C7, wherein the sheet comprises a line of weakness between adjacent sections.
The jamming device of any one of Embodiments C1-C8, wherein a coefficient of friction of the sheet is less than 0.4.
The jamming device of any one of Embodiments C1-C9, wherein a dielectric layer of the first section covers less than one hundred percent of a circumference of the first section.
The jamming device of any one of Embodiments C1-C10, wherein the dielectric layer has a thickness less than or equal to 5 micrometers.
The jamming device of any one of Embodiments C1-C11, 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.
The jamming device of any one of Embodiments C1-C12, wherein the first sheet is separated from a large sheet having a conductive layer.
The jamming device of Embodiment C13, wherein the large sheet is a roll of sheet.
The jamming device of any one of Embodiments C1-C14, wherein the first sheet is patterned such that it is extensible in at least one axis.
The jamming device of any one of Embodiments C1-C15, wherein the first section has patterned openings such that it is extensible in at least one axis.
The jamming device of any one of Embodiments C1-C16, wherein the first section has a plurality of protruded features.
The jamming device of Embodiment C17, wherein the second section has a plurality of protruded features.
The jamming device of Embodiment C18, wherein at least some of the plurality of protruded features of the first section are mated with some of the plurality of protruded features of the second section in the second state.
The jamming device of any one of Embodiments C1-C19, wherein the dielectric layer has a relative permittivity greater than 3.
The jamming device of any one of Embodiments C1-C20, wherein the dielectric layer comprises an inorganic compound.
The jamming device of any one of Embodiments C1-C21, wherein the sheet comprises a core layer providing structural support.
The jamming device of any one of Embodiments C1-C22, wherein the dielectric layer has a thickness less than or equal to 10 micrometers.
The jamming device of any one of Embodiments C1-C23, wherein the dielectric layer is a coating on the sheet.
A method including the steps of: retrieving a sheet having a conductive layer and a dielectric layer; separating a first set of sections from the sheet; connecting the first set of sections electrically via a first connector; separating a second set of sections from the sheet; connecting the second set of sections electrically via a second connector; and assembling the first set of sections and the second set of sections into a jamming device. The sheet is non-extensible and flexible. The first set of sections and the second set of sections are slidable relative to each adjacent pair in a first state. The first set of sections and the second set of sections are jammed together in a second state when a voltage is applied between the first connector and the second connector.
The method of Embodiment D1, wherein the dielectric layer is a coating on the sheet.
The method of Embodiment D1 or D2, wherein the dielectric layer has a thickness less than or equal to 10 micrometers.
The method of any one of Embodiments D1-D3, wherein the dielectric layer has a thickness less than or equal to 5 micrometers.
The method of any one of Embodiments D1-D4, further comprising: assembling the first set of sections and the second set of sections with one or more urging elements.
The method of Embodiment D5, 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.
The method of any one of Embodiments D1-D6, wherein the sheet is packaged in a roll.
The method of any one of Embodiments D1-D7, wherein the sheet comprises a line of weakness between adjacent sections.
The method of any one of Embodiments D1-D8, wherein a coefficient of friction of the sheet is less than 0.4.
The method of any one of Embodiments D1-D9, wherein the dielectric layer of at least one of the first set of sections covers less than one hundred percent of a circumference of the at least one of the first set of sections.
The method of any one of Embodiments D1-D10, wherein a distance between an adjacent one of the first set of sections and one of the second set of sections is no greater than 10 micrometers in the first state.
The method of any one of Embodiments D1-D11, wherein a direct path between two conductive layers of the adjacent one of the first set of sections and one of the second set of sections is approximately the same length as the distance between the two conductive layers in the second state.
The method of any one of Embodiments D1-D12, wherein the sheet is patterned such that it is extensible along at least one axis.
The method of any one of Embodiments D1-D13, wherein the sheet has patterned openings such that it is extensible along at least one axis.
The method of any one of Embodiments D1-D14, wherein the sheet has a plurality of protruded features.
The method of Embodiment D15, wherein at least some of the plurality of protruded features of at least one of the first set of sections are mated with some of the plurality of protruded features of at least one of the second set of sections in the second state.
The method of any one of Embodiments D1-D16, wherein the dielectric layer has a relative permittivity greater than 3.
The method of any one of Embodiments D1-D17, wherein the dielectric layer comprises an inorganic compound.
The method of any one of Embodiments D1-D18, wherein the sheet comprises a core layer providing structural support.
The method of any one of Embodiments D1-D19, wherein the applied voltage is less than or equal to a break-down voltage of air at a distance between the first and the second conductive layer.
The method of any one of Embodiments D1-D20, wherein the applied voltage is no greater than 100V.
An electrostatic sheet jamming apparatus comprising a first sheet comprising a first conductive layer, the first sheet comprising a set of first features protruded from a first general plane of the first sheet, 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 second sheet comprising a set of second features protruded from a second general plane of the second sheet. 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 at least some of the set of first features are configured to mate with at least some of the set of second features. The first sheet and the second sheet are movable relative 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.
The apparatus of Embodiment E1, wherein the set of first features has a first height representing an average height of the set of first features from the first general plane.
The apparatus of Embodiment E2, wherein the first height is equal to or less than 10 millimeters.
The apparatus of Embodiment E2, wherein the first height is equal to or less than 1 millimeters.
The apparatus of Embodiment E2, wherein the set of second features has a second height representing an average height of the set of second features from the second general plane.
The apparatus of Embodiment E5, wherein the second height is equal to or less than 10 millimeters.
The apparatus of Embodiment E5, wherein the second height is equal to or less than 1 millimeters.
The apparatus of any one of Embodiments E1-E7, wherein one of the set of first features is a prism, a pyramid, a rectangular protrusion, an ellipsoidal protrusion, a sawtooth, or a sinusoid.
The apparatus of any one of Embodiments E1-E8, wherein the first conductive layer is a coating on the first sheet.
The apparatus of any one of Embodiments E1-E9, wherein the first dielectric layer is a coating on the first sheet.
The apparatus of Embodiment E10, further comprising: a second dielectric layer coated on the second sheet.
The apparatus of Embodiment E11, wherein the second dielectric layer has a thickness less than or equal to 5 micrometers.
The apparatus of any one of Embodiments E1-E12, wherein at least some of the set of first features have a same first shape.
The apparatus of Embodiment E13, wherein at least some of the set of first features have a same second shape.
The apparatus of Embodiment E14, wherein the first shape is a same shape as the second shape.
The apparatus of any one of Embodiments E1-E15, wherein some of the set of first features are mated with some of the set of second features in the second state.
The apparatus of Embodiment E16, wherein the some of the set of first features are in contact with the some of the set of second features.
The apparatus of any one of Embodiments E1-E17, wherein the applied voltage is no greater than a break-down voltage of a distance between the first and the second conductive layer.
The apparatus of any one of Embodiments E1-E18, wherein the applied voltage is no greater than 100V.
The apparatus of any one of Embodiments E1-E19, further comprising: one or more urging elements configured to keep the first sheet and the second sheet close to each other.
The apparatus of Embodiment E20, 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.
The apparatus of any one of Embodiments E1-E21, wherein the first dielectric layer has a thickness less than or equal to 10 micrometers.
The apparatus of any one of Embodiments E1-E22, wherein the first dielectric layer has a thickness less than or equal to 5 micrometers.
The apparatus of any one of Embodiments E1-E23, wherein the first sheet is separated from a large sheet having a conductive layer.
The apparatus of Embodiment E24, wherein the large sheet is a roll of sheet.
The apparatus of any one of Embodiments E1-E25, wherein the first sheet is patterned such that it is extensible in at least one axis.
The apparatus of any one of Embodiments E1-E26, wherein the first dielectric layer has a relative permittivity greater than 3.
The apparatus of any one of Embodiments E1-E27, wherein the first dielectric layer comprises an inorganic compound.
The apparatus of any one of Embodiments E1-E28, wherein at least one of the first sheet and the second sheet comprises a core layer providing structural support.
An electrostatic sheet jamming apparatus comprising: a first set of sheets, each of the first set of sheets comprising a first conductive layer, a second set of sheets, each of the second set of sheets comprising a second conductive layer, a first connector electrically conductively connected to the first conductive layers of at least part of the first set of sheets, a second connector electrically conductively connected to the second conductive layers of at least part of the second set of sheets, and a set of dielectric layers. The first set of sheets are connected on two edges. The second set of sheets are connected on two edges. 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. The first set of sheets and the second set of sheets are movable relative to each other in a first state. 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.
The apparatus of Embodiment F1, wherein at least some of dielectric layers are coated on the first set of sheets.
The apparatus of Embodiment F2, wherein at least some of dielectric layers are coated on the second set of sheets.
The apparatus of any one of Embodiments F1-F3, wherein the first set of sheets and the second set of sheets are interdigitated with an angle greater than 0 degree.
The apparatus of any one of Embodiments F1-F4, wherein the first set of sheets are connected on two opposing edges.
The apparatus of any one of Embodiments F1-F5, wherein the first set of sheets are connected on two adjacent edges.
The apparatus of Embodiment F6, wherein the second set of sheets are connected on two adjacent edges.
The apparatus of Embodiment F7, wherein the first set of sheets are rotatable relative to the second set of sheets in the first state.
The apparatus of any one of Embodiments F1-F8, further comprising: one or more urging elements configured to keep the first set of sheets and the second set of sheets close to each other.
The apparatus of Embodiment F9, 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.
The apparatus of any one of Embodiments F1-F10, 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.
The apparatus of any one of Embodiments F1-F11, 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 5 micrometers.
The apparatus of any one of Embodiments F1-F12, wherein at least one of the set of dielectric layers has a thickness less than or equal to 10 micrometers.
The apparatus of any one of Embodiments F1-F13, wherein at least one of the set of dielectric layers has a thickness less than or equal to 5 micrometers.
The apparatus of any one of Embodiments F1-F14, wherein the applied voltage is no greater than 100V.
The apparatus of Embodiment F15, wherein the applied voltage is less than or equal to a break-down voltage of air at a distance between adjacent one of the first set of sheets and one of the second set of sheets.
The apparatus of any one of Embodiments F1-F16, wherein the first set of sheets are separated from a large sheet having a conductive layer.
The apparatus of Embodiment F17, wherein the large sheet is a roll of sheet.
The apparatus of any one of Embodiments F1-F18, wherein at least one of the first set of sheets is patterned such that it is extensible in at least one axis.
The apparatus of any one of Embodiments F1-F19, wherein at least one of the first set of sheets has patterned openings such that it is extensible in at least one axis.
The apparatus of any one of Embodiments F1-F20, wherein at least one of the first set of sheets has a plurality of protruded features.
The apparatus of Embodiment F21, wherein at least one of the first set of sheets has a plurality of protruded features.
The apparatus of Embodiment F22, wherein at least some of the plurality of protruded features of at least one of the first set of sheets are mated with some of the plurality of protruded features of at least one of the second set of sheets in the second state.
The apparatus of any one of Embodiments F1-F23, wherein at least one of the set of dielectric layers has a relative permittivity greater than 3.
The apparatus of any one of Embodiments F1-F24, wherein at least one of the set of dielectric layers comprises an inorganic compound.
The apparatus of any one of Embodiments F1-F25, wherein a coefficient of friction of at least one of the first set of sheets is less than 0.4.
The apparatus of any one of Embodiments F1-F26, wherein at least one of the first set of sheets comprises a core layer providing structural support.
An electrostatic sheet jamming apparatus 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. The first dielectric layer is disposed between the first conductive layer and the second conductive layer. The first sheet and the second sheet are made of non-extensible materials and flexible. The first sheet comprises a set of first slit features such that the first sheet is extensible on a first axis. The second sheet comprises a set of second slit features such that the second sheet is extensible on a second axis. 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 locked against each other in a second state when a voltage is applied between the first conductive layer and the second conductive layer.
The apparatus of Embodiment G1, wherein the first conductive layer is a coating on the first sheet.
The apparatus of Embodiment G1 or G2, wherein the first dielectric layer is a coating on the first sheet.
The apparatus of any one of Embodiments G1-G3, wherein one of the set of first slit features is an elongated opening, a triangle opening, and an oval opening.
The apparatus of any one of Embodiments G1-G4, wherein at least one of the first and second sheets are extensible in one axis.
The apparatus of any one of Embodiments G1-G5, wherein at least one of the first and second sheets are extensible in more than one axis.
The apparatus of any one of Embodiments G1-G6, further comprising: one or more urging elements configured to keep the first sheet and the second sheet close to each other.
The apparatus of Embodiment G7, wherein each of the one or more urging elements comprises a highly compliant outer layer.
The apparatus of Embodiment G7, wherein each of the one or more urging elements comprises a highly compliant inner layer.
The apparatus of Embodiment G7, wherein at least one of the one or more urging elements is made of a stretchable material.
The apparatus of any one of Embodiments G1-G10, wherein the second axis is parallel to the first axis.
The apparatus of any one of Embodiments G1-G11, further comprising: a second dielectric layer coated on the second sheet.
The apparatus of any one of Embodiments G1-G12, wherein the applied voltage is no greater than a break-down voltage of a distance between the first and the second conductive layer.
The apparatus of any one of Embodiments G1-G13, wherein the applied voltage is no greater than 100V.
The apparatus of any one of Embodiments G1-G14, wherein the first dielectric layer has a thickness less than or equal to 10 micrometers.
The apparatus of any one of Embodiments G1-G15, wherein the first dielectric layer has a thickness less than or equal to 5 micrometers.
The apparatus of any one of Embodiments G1-G16, wherein the first sheet is separated from a large sheet having a conductive layer.
The apparatus of Embodiment G17, wherein the large sheet is a roll of sheet.
The apparatus of any one of Embodiments G1-G18, wherein the first sheet is patterned such that it is extensible in at least one axis.
The apparatus of any one of Embodiments G1-G19, wherein the first dielectric layer has a relative permittivity greater than 3.
The apparatus of any one of Embodiments G1-G20, wherein the first dielectric layer comprises an inorganic compound.
The apparatus of any one of Embodiments G1-G21, wherein at least one of the first sheet and the second sheet comprises a core layer providing structural support.
A flexible electronic device, comprising: a flexible component layer comprising at least one electronic component, and a jamming device disposed proximate to the flexible component layer. The jamming device permits the flexible component layer to be bent in a first state. The jamming device is configured to resist bending of the flexible component layer in a second state.
The electronic device of Embodiment H1, wherein the jamming device comprises a plurality of sheets.
The electronic device of Embodiment H2, wherein the plurality of sheets comprises conductive layers such that the jamming device are jammable electrostatically.
The electronic device of Embodiment H2, wherein the jamming device are jammable by a vacuum.
The electronic device of Embodiment H2, wherein at least some of the plurality of sheets are substantially conform to a primary surface of the flexible component layer.
The electronic device of Embodiment H2, wherein at least some of the plurality of sheets are substantially perpendicular to a primary surface of the flexible component layer.
The electronic device of any one of Embodiments H1-H6, wherein the electronic device is a display.
The electronic device of any one of Embodiments H1-H7, wherein the electronic device is a wearable electronic device.
The electronic device of Embodiment H3, wherein the plurality of sheets comprises a first set of sheets and a second set of sheets, wherein the first set of sheets and the second set of sheets are interdigitated, and wherein the second state is induced when a voltage is applied between the first set of sheets and the second set of sheets.
The electronic device of Embodiment H9, further comprising a set of dielectric layers.
The electronic device of Embodiment H10, wherein at least some of the set of dielectric layers are coated on the first set of sheets.
The electronic device of Embodiment H11, wherein at least some of the set of dielectric layers are coated on the second set of sheets.
The electronic device of any one of Embodiments H9-H12, 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.
The electronic device of any one of Embodiments H9-H13, wherein the first dielectric layer covers less than one hundred percent of a circumference of the first sheet.
The electronic device of any one of Embodiments H9-H14, wherein the applied voltage is less than or equal to a break-down voltage of air at a distance between adjacent one of the first set of sheets and one of the second set of sheets.
The electronic device of any one of Embodiments H9-H15, wherein the applied voltage is no greater than 100V.
The electronic device of any one of Embodiments H9-H16, further comprising: one or more urging elements configured to keep the first set of sheets and the second set of sheets close to each other.
The electronic device of Embodiment H17, 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.
The electronic device of any one of Embodiments H9-H18, wherein at least one of the set of dielectric layers has a thickness less than or equal to 10 micrometers.
The electronic device of any one of Embodiments H9-H19, wherein at least one of the set of dielectric layers has a thickness less than or equal to 5 micrometers.
The electronic device of any one of Embodiments H9-H20, wherein the first set of sheets are separated from a large sheet having a conductive layer.
The electronic device of Embodiment H21, wherein the large sheet is a roll of sheet.
The electronic device of any one of Embodiments H2-H22, wherein at least one of the set of sheets is patterned such that the at least one of the set of sheets is extensible in at least one axis.
The electronic device of any one of Embodiments H2-H23, wherein at least one of the first set of sheets has patterned openings such that it is extensible in at least one axis.
The electronic device of any one of Embodiments H9-H24, wherein at least one of the first set of sheets has a plurality of protruded features.
The electronic device of Embodiment H25, wherein at least one of the second set of sheets has a plurality of protruded features.
The electronic device of Embodiment H26, wherein at least some of the plurality of protruded features of at least one of the first set of sheets are mated with some of the plurality of protruded features of at least one of the second set of sheets in the second state.
The electronic device of Embodiment H10, wherein at least one of the set of dielectric layers has a relative permittivity greater than 3.
The electronic device of Embodiment H10, wherein at least one of the set of dielectric layers comprises an inorganic compound.
The electronic device of any one of Embodiments H2-H29, wherein a coefficient of friction of at least one of the set of sheets is less than 0.4.
The electronic device of any one of Embodiments H2-H30, wherein at least one of the set of sheets comprises a core layer providing structural support.
A roll of polyethylene terephthalate (PET) that was 0.002 inch (0.00508 cm) thick was sputter coated with a 0.030 micrometer thick layer of copper on one side as a conductive layer, and then reactively sputter coated with a 0.050 micrometer thick layer of silicon aluminum oxide as a dielectric layer over the copper layer. Eighteen sheets were cut from the roll into strips that were 6 inches (15.24 cm) wide by 15 inches (18.1 cm) long. The strips were combined into double sided electrostatic jamming sheets by placing sets of two sheets with the plain PET surfaces touching. The double sided electrostatic jamming sheets were then assembled into two sets of interdigitated sheets as shown in
The results showed that a significant pressure can be achieved at very low voltage levels. The consistent return to a low force at zero voltage demonstrates that we have not created an electric field that is so strong that it polarizes the materials or injects space charge into the system. The results match the model as discussed above well. They fit the expected quadratic relationship with an R2 value of 0.994. With an area A of 36 square inch (232.258 cm2) and N=9 interfaces, we can estimate the coefficient of friction from the zero voltage data to be μ=0.044. The jamming pressure caused by electrostatic jamming at 20V is estimated to be about 416 Pa.
The present invention should not be considered limited to the particular examples and embodiments described above, as such embodiments are described in detail to facilitate explanation of various aspects of the invention. Rather the present invention should be understood to cover all aspects of the invention, including various modifications, equivalent processes, and alternative devices falling within the spirit and scope of the invention as defined by the appended claims and their equivalents.
This application claims the benefit of U.S. Application No. 62/691,461, filed Jun. 28, 2018, the disclosure of which is incorporated by reference in its/their entirety herein.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/IB2019/055422 | 6/26/2019 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2020/003178 | 1/2/2020 | WO | A |
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| WO 2016-100170 | Jun 2016 | WO |
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| WO 2016-100182 | Jun 2016 | WO |
| WO 2017-165215 | Sep 2017 | WO |
| WO 2020-003175 | Jan 2020 | WO |
| WO-2020003178 | Jan 2020 | WO |
| WO 2020-261118 | Dec 2020 | WO |
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| Number | Date | Country | |
|---|---|---|---|
| 20210257941 A1 | Aug 2021 | US |
| Number | Date | Country | |
|---|---|---|---|
| 62691461 | Jun 2018 | US |
