Electroadhesion endows robots with super-human abilities: mechanical geckoes that climb vertical walls and soft grippers that grasp the most delicate objects. Based on electrostatics, the adhesion forces are turned on and off by an electrical signal, promising extremely fast operation, from silent fully solid-state devices. Practical applications of electroadhesion have however been limited to date by two main challenges: (1) the adhesion forces can vary over 1000x by simply changing the angle between the electroadhesive tape and the object, (2) release is often slow due to residual adhesion when voltage is removed.

This paper describes a solution to both these issues by understanding and leveraging peeling in electroadhesion. We present simple models for peeling of electroadhesive tapes, predicting a change in peeling force from < 1 mN to over 1 N by changing the angle between the tape and the object from 90° to 0°. The models are in excellent agreement with our peeling experiments with 30 mm long, 20 mm wide, $300\mathrm{\mu }\mathrm{m}$ thick electroadhesion tapes made of silicone rubber with carbon electrodes.

We demonstrate an electroadhesion soft gripper that uses motorized fingers to control the peeling angle, as a practical application of our peeling models. By moving the fingers to ensure a low peeling angle (0°) when grasping, the same gripper can successfully pick up from a 10 g cherry tomato (2.5 cm wide) to a 600 g Mango (9 cm wide). By then setting a high peeling angle (> 30°), the gripper reliably and rapidly (< 300 ms) releases those objects, despite residual adhesion.

Electroadhesion soft grippers have many advantages, including grasping without squeezing, silent operation, low power consumption (< 1 W) and low weight (1 g per soft finger). Understanding and modelling contact mechanics in electroadhesion devices was an essential missing step for practical applications of electroadhesion in robots and grippers. This paper sheds light on how peeling influences electroadhesion and provides practical tools to design and operate electroadhesion systems.

电粘附赋予机器人超人的能力：攀爬垂直墙壁的机械壁虎和抓取最精致物体的柔软抓手。基于静电学，粘附力通过电信号打开和​​关闭，保证从静音的全固态设备中实现极快的操作。然而，迄今为止，电粘附的实际应用受到两个主要挑战的限制：(1) 通过简单地改变电胶带和物体之间的角度，粘附力可以变化超过 1000 倍，(2) 由于残余粘附，释放通常很慢，当电压被移除。

本文介绍了通过理解和利用电粘附中的剥离来解决这两个问题的解决方案。我们提出了用于剥离电胶带的简单模型，通过将胶带与物体之间的角度从 90° 更改为 0°，预测剥离力从 < 1 mN 到超过 1 N 的变化。这些模型与我们的剥皮实验非常吻合，长 30 毫米，宽 20 毫米，$300\mathrm{\mu }\mathrm{米}$ 厚的带碳电极的硅橡胶电粘胶带。

我们展示了一种使用电动手指来控制剥离角度的电粘附软夹具，作为我们剥离模型的实际应用。通过移动手指以确保抓取时的剥离角度较低 (0°)，同一个夹具可以成功地从 10 克樱桃番茄（2.5 厘米宽）到 600 克芒果（9 厘米宽）。然后通过设置高剥离角度 (> 30°)，夹持器可靠且快速 (< 300 ms) 释放这些物体，尽管有残留粘附。

电粘附软抓手具有许多优点，包括抓握不挤压、操作静音、功耗低（< 1 W）和重量轻（每个软手指 1 克）。理解和建模电粘附设备中的接触力学是电粘附在机器人和抓手中的实际应用中必不可少的一步。本文阐明了剥离如何影响电粘附，并提供了设计和操作电粘附系统的实用工具。