US Patent 11023047 Electrostatic slide clutch with bidirectional drive circuit

An electrostatic slide clutch comprises first and second sheet electrodes, a dielectric layer, and a drive circuit. The dielectric layer is arranged between the first and second sheet electrodes. The drive circuit is coupled electrically to the first sheet electrode and to the second sheet electrode and configured to move a variable amount of charge bidirectionally between the first and second sheet electrodes, to influence a normal force between the first and second sheet electrodes.