Electroadhesive devices can lift materials of different shapes and various types using the electrostatic force developed at the interface between the device and the object. More specifically, the electrical potential generated by the device induces opposite charges on the object to give electrostatic Maxwell force. Although this technology has a great deal of potential, the key design factors based on the fundamental principles of interfacial polarization have yet to be clearly identified. In this study, we identify that the lifting force is quantitatively related to the total length of the boundary edges of the electrodes, where the induced charges are selectively concentrated. We subsequently propose a model equation that can predict the electrostatic lifting forces for different object materials as a function of the applied voltage, impedance, and electrode-boundary length. The model is based on the fact that the amount of induced charges should be concentrated where the equipotential field distance is minimal. We report that the impedance magnitude is correlated with the electroadhesive lifting forces by analyzing the impedance characteristics of objects made of different materials (e.g., paper, glass, or metal), as attached in situ to the electroadhesive device.

Rigid polyurethane foam (PUF) was successfully prepared from a novel oligo-ester-ether-diol obtained from the glycolysis of waste poly(ethylene terephthalate) (PET) bottles via reaction with diethylene glycol (DEG) in the presence of ZnSO₄·7H₂O. The LC-MS analysis of the oligodiol enabled us to identify 67 chemical homologous structures that were composed of zero to four terephthalate (T) ester units and two to twelve monoethylene glycol (M) ether units. The flame retardant, morphological, compression, and thermal properties of rigid PUFs with and without triphenyl phosphate (TPP) were determined. The T_g values showed that TPP played a role of not only being a flame retardant, but also a plasticizer. PUF with a rather low TPP loading had an excellent flame retardancy and high thermal stability. A loading of 10 wt % TPP not only achieved a UL-94 V-0 rating, but also obtained an LOI value of 21%. Meanwhile, the PUF without a flame retardant did not achieve a UL-94 HB rating; the sample completely burned to the holder clamp and yielded a low LOI value (17%). The fire properties measured with the cone calorimeter were also discussed, and the results further proved that the flame retardancy of the PUF with the addition of TPP was improved significantly. The polymeric material meets the demands of density and compression strength for commercial PUF, as well as the needs of environmental development. The current study may help overcome the drawback of intrinsic high flammability and enlarge the fire safety applications of materials with a high percentage of recycled PET.