Well-Balanced Reversible Electroadhesion Performance in Ionic Polyvinyl Chloride Gel via Integrating with Electrostatic and Electrochemical Adhesion Mechanisms

Reversible electroadhesion enables controllable adhesion and deadhesion, which is essential for grippers, robotics, and wearable devices. Current electrostatic and electrochemical adhesion strategies are mainly limited by high stimulation voltages, low adhesion strength, and durability issues, respectively. This study reports an ionic PVC gel (iPVCG) integrating electrostatic and electrochemical adhesion mechanisms to achieve a well-balanced performance. Electrostatic adhesion arises from the electrostatic force between the negatively charged enrichment layer and the positively charged anode, while electrochemical adhesion results from the complexation between [SCN]^- anions in the ionic liquid and [Cu]²⁺ cations on the copper anode under leakage current. By leveraging the rapid response of electrostatic adhesion and the high adhesion strength of electrochemical adhesion, iPVCG exhibits a well-balanced adhesion performance. Specifically, the adhesion strength of iPVCG reaches 41.98 kPa after 6 s of electrical stimulation and increases to 189.22 kPa after 60 s. Notably, after 200 adhesion-deadhesion cycles or 105 days of aging, the adhesion strength decreases by no more than 20%. Furthermore, an iPVCG pad with a 4 cm² contact area successfully picks up, transfers, and releases metallic objects weighing between 52.80 and 1036.80 g, accommodating various shapes and materials. Notably, it remains effective even in silicone oil.