Abstract: The present invention provides miniature power supplies and circuitry for powering high-voltage devices.

Abstract: A method of building structures using diamagnetically levitated manipulators includes depositing, with a first end effector attached to a first manipulator, a first adhesive at a first location on a first surface, picking up, with a second end effector, an article, moving the article to the surface, and placing the article on the adhesive on the surface.

Abstract: An electroadhesive gripping system includes a shear gripper. The shear gripper can include an electroadhesive surface associated with one or more electrodes and a load-bearing structure coupled to the electroadhesive surface. A power supply can be configured to apply voltage to the one or more electrodes associated with the electroadhesive surface. A controller can be configured to cause a voltage to be applied, via the power supply, to the one or more electrodes associated with the electroadhesive surface to thereby cause the first shear gripper to adhere to an item situated proximate the electroadhesive surface. The controller can be configured to cause a shear force to be applied to the adhered item, via the load-bearing structure, that is sufficient to move the adhered item.

Abstract: A wall-crawling robot or other electroadhesive device can include a battery or other low voltage power source driving a motor that provides a primary device function, a voltage convertor adapted to convert the low voltage to a high voltage using the motor output, and electrodes configured to apply the high voltage to produce an electrostatic force between the electroadhesive device and a foreign substrate. The electrostatic force maintains a current position of the electroadhesive device relative to the foreign substrate, and the voltage convertor is separate from the primary function of the electroadhesive device. The primary function can be a mechanism for locomotion, and the voltage convertor can be a Van de Graff generator, a piezoelectric generator, or an inductive switch generator, any of which are driven in a secondary manner as a result of the motor output.

Abstract: A system including a first circuit substrate having conductive traces in layers of the first substrate, the first substrate having a first diamagnetic layer, a second circuit substrate having conductive traces in layers of the second substrate, the second substrate having a second diamagnetic layer, at least one manipulator residing adjacent one of the first and second diamagnetic layers, the manipulator being moveable across the first and second diamagnetic layers through magnetic fields generated by selected application of current to the conductive traces, and a controller coupled to the traces arranged to produce signals which result in the current being applied to the conductive traces.

Abstract: A system has a first operation substrate, the operation substrate having at least one sliding surface and at least one conductive trace in a layer in the substrate, at least one flex circuit magnetically coupled to the operation substrate, the flex circuit having at least one sliding surface and at least one conductive trace in the substrate, and at least one manipulator moveable across the sliding surfaces of the operation substrate and the flex circuit by magnetic fields generated by application of current to the conductive traces.

Abstract: An electroadhesive surface can include electrodes that are configured to induce an electrostatic attraction with nearby objects upon application of voltage to the electrodes. Systems described herein may also employ a load-bearing frame that is coupled to an electroadhesive gripping surface via an array of height-adjustable pins. Adjusting the pins changes the shape of the gripping surface, and may be used to conform to objects pressed against the gripping surface. Objects pressed against the gripping surface may cause one or more of the pins to retract by sliding within respective channels so as to cause the gripping surface to conform to the object. Some examples further include pin-locking mechanisms configured to secure the position of the pins within their respective channels and thereby fix the shape of the gripping surface after conforming to the object.

Abstract: A method of propelling a magnetic manipulator above a circuit substrate includes arranging a magnetic manipulator on a diamagnetic layer on a surface of the circuit substrate, generating drive signals using a controller, and applying the drive signals to at least two conductive traces arranged in the circuit substrate below the diamagnetic layer. A circuit substrate to control movement of a magnetic manipulator has a diamagnetic layer on a surface of the substrate, and conductive traces arranged under the diamagnetic layer, the conductive traces arranged in a parallel line pattern in at least two separate layers.

Abstract: A “sticky boom” system facilitates physical control of foreign objects, such as those in a zero-gravity environment. The electroadhesive system includes an electrostatic adhesion pad that electrostatically and detachably adheres to a separate foreign object, as well as a boom coupled to the pad. The pad includes electrode(s) adapted to produce an electrostatic force between the pad and the object that maintains the position of the pad relative to the object. The boom provides control for positioning the pad relative to the object and also for movement of the pad and object combination when they are electrostatically adhered together. A sensing component detects when the pad is adhered to the foreign object, and a control mechanism coupled to the boom allows for control of the pad and object at a remote distance. Multiple foreign objects can be adhered simultaneously. Control can include location and/or rotational movement or deceleration of objects.

Abstract: Described herein is electroadhesion technology that permits controllable adherence between two objects. Electroadhesion uses electrostatic forces of attraction produced by an electrostatic adhesion voltage, which is applied using electrodes in an electroadhesive device. The electrostatic adhesion voltage produces an electric field and electrostatic adherence forces. When the electroadhesive device and electrodes are positioned near a surface of an object such as a vertical wall, the electrostatic adherence forces hold the electroadhesive device in position relative to the surface and object. This can be used to increase traction or maintain the position of the electroadhesive device relative to a surface. Electric control of the electrostatic adhesion voltage permits the adhesion to be controllably and readily turned on and off.

Abstract: An active electroadhesive cleaning device or system includes electrode(s) that produce electroadhesive forces from an input voltage to adhere dust or other foreign objects against an interactive surface, from which the foreign objects are removed when the forces are controllably altered. User inputs control the input voltage and/or designate the size of foreign objects to be cleaned. An active power source provides the input voltage, and the interactive surface can be a continuous track across one or more rollers to move the device across a dirty foreign surface. Electrodes can be arranged in an interdigitated pattern having differing pitches that can be actuated selectively to clean foreign objects of different sizes. Sensors can detect the amount of foreign particles adhered to the interactive surface, and reversed polarity pulses can help repel items away from the interactive surface in a timely and controlled manner.

Abstract: An electroadhesive gripping system includes a vacuum-augmented gripper. The gripper can include an electroadhesive surface associated with one or more electrodes and a load-bearing backing structure coupled to the electroadhesive surface. The backing couples to the backside of the electroadhesive surface so as to at least partially define a shape of the electroadhesive surface. The backing is configured to flex between a curled shape and an uncurled shape. A spreading arm is configured to apply force to the backing so as to flex the backing from the curled shape to the uncurled shape. When positioned next to a substrate, the uncurling motion of the backing can cause the electroadhesive surface to become vacuum sealed to the substrate. A power supply can be configured to apply voltage to the electroadhesive surface.

Abstract: A system has a circuit substrate having conductive traces in a first layer of the substrate, the traces arranged in independent zones, a diamagnetic layer residing on a surface of the circuit substrate, at least two manipulators residing adjacent the magnetic layer, the manipulators being moveable within the zones, the manipulators being magnetic and controllable through magnetic fields, and a controller electrically coupled to the traces arranged to produce signals to generate magnetic fields.

Abstract: A process for sorting materials using material-selective electroadhesive grippers is disclosed. At least one of an electroadhesive surface or a plurality of articles is manipulated such that multiple ones of the plurality of articles are at least intermittently proximate the electroadhesive surface. Voltage is applied to one or more electrodes in the electroadhesive surface to thereby cause the electroadhesive surface to selectively adhere to a subset of the plurality of articles based on the subset of the plurality of articles having different material properties than others of the plurality of articles. While the voltage is applied, the electroadhesive surface is moved with respect to the others of the plurality of articles to thereby separate the subset of the plurality of articles from the others of the plurality of articles.

Abstract: An electroadhesive gripping platform includes one or more electrodes. A power supply is configured to apply voltage to the one or more electrodes in the electroadhesive platform via one or more terminals. A controller is configured to operate the electroadhesive gripping platform to selectively adhere to items loaded thereon and thereby enhance traction control over such items. The controller can control the power supply to apply a voltage to the one or more electrodes in the electroadhesive platform to thereby cause the electroadhesive platform to adhere to an item disposed on the electroadhesive platform such that the item resists moving with respect to the electroadhesive platform. The controller can also control the voltage supply to reduce the voltage applied to the one or more terminals such that the item moves with respect to the electroadhesive platform.

Abstract: An electroadhesive cleaning device or system includes electrode(s) that produce electroadhesive forces from an input voltage to adhere debris against an electroadhesive surface, from which the debris is removed when the forces are controllably modified. Controlling the input voltage may designate the size of debris to be cleaned. A power source provides the input voltage, and the electroadhesive surface can be a continuous track across one or more rollers to move the device across a dirty foreign surface. Electrodes can be arranged in an interdigitated pattern having differing pitches that can be actuated selectively to clean debris of different sizes. Sensors can detect the amount of debris adhered to the electroadhesive surface, and reversed polarity pulses can help repel items away from the electroadhesive surface in a controlled manner.

Abstract: An electroadhesive gripping device or system includes a plurality of electroadhesive gripping surfaces, each having electrode(s) and each configured to be placed against respective surface regions of a foreign object, such that one or more electroadhesive forces can be provided between the electroadhesive gripping surfaces and the foreign object. Such electroadhesive forces operating to hold the foreign object against the electroadhesive gripping surfaces while the foreign object is held or moved by the electroadhesive gripping system. The electroadhesive gripping surfaces can be arranged onto a plurality of continuous fingers, and various gripping surfaces on each finger can be coupled together and manipulated with respect to each other by an actuating component, such as a cable actuator. A variable voltage can be delivered to the electrodes to control the amount of electroadhesive force generated, such that only a portion of a foreign object is held or moved.

Abstract: An electroadhesive gripping system includes a shear gripper. The shear gripper can include an electroadhesive surface associated with one or more electrodes and a load-bearing structure coupled to the electroadhesive surface. A power supply can be configured to apply voltage to the one or more electrodes associated with the electroadhesive surface. A controller can be configured to cause a voltage to be applied, via the power supply, to the one or more electrodes associated with the electroadhesive surface to thereby cause the first shear gripper to adhere to an item situated proximate the electroadhesive surface. The controller can be configured to cause a shear force to be applied to the adhered item, via the load-bearing structure, that is sufficient to move the adhered item.

Abstract: Described herein are transducers and their fabrication. The transducers convert between mechanical and electrical energy. Some transducers of the present invention include a pre-strained polymer. The pre-strain improves the conversion between electrical and mechanical energy. The present invention provides methods for fabricating electromechanical devices including one or more electroactive polymers.

Abstract: A wall-crawling robot or other electroadhesive device can include a battery or other low voltage power source driving a motor that provides a primary device function, a voltage convertor adapted to convert the low voltage to a high voltage using the motor output, and electrodes configured to apply the high voltage to produce an electrostatic force between the electroadhesive device and a foreign substrate. The electrostatic force maintains a current position of the electroadhesive device relative to the foreign substrate, and the voltage convertor is separate from the primary function of the electroadhesive device. The primary function can be a mechanism for locomotion, and the voltage convertor can be a Van de Graff generator, a piezoelectric generator, or an inductive switch generator, any of which are driven in a secondary manner as a result of the motor output.