Richard J Mahoney

US Patent:

8564926, Oct 22, 2013

Filed:

Nov 2, 2012

Appl. No.:

13/668099

Inventors:

Ronald E. Pelrine - Longmont CO, US
Pablo E. Garcia - Menlo Park CA, US
Richard Mahoney - Los Altos CA, US
Joseph S. Eckerle - Woodside CA, US

Assignee:

SRI International - Menlo Park CA

International Classification:

H01T 23/00

US Classification:

361234

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.