Rough Surface Electroadhesion Model for Meniscus-Driven Haptic Interfaces

Abstract This study develops an elastic-plastic statistical-based rough surface contact model incorporating a single-asperity electroadhesion formulation to predict meniscus-driven interfacial behavior between compliant human fingertip surfaces and rigid haptic interfaces. The model integrates meniscus, solid–solid, and electrostatic forces at the asperity level, enabling a comprehensive analysis of adhesion under varying meniscus water volumes, surface separations, and applied voltages. Results show that meniscus forces dominate under contact conditions, whereas electrostatic forces are significant at higher surface separations and lower meniscus volumes. The inclusion of electroadhesion substantially increases the total adhesion and pull-off forces, with a marked dependence on the roughness parameters. The model further reveals that smoother surfaces with larger asperity radii produce higher adhesion and pull-off forces due to enhanced meniscus and electrostatic contributions. These findings provide new insights into electroadhesion mechanisms in tactile interfaces, with implications for haptic device design, human–machine interaction, and surface engineering applications.