A Macro Model for Electroadhesive Contact of a Soft Finger With a Touchscreen.

A contact problem of electroadhesion for a conductive elastic body pressed against a rigid plane surface of a dielectric coating covering a conductive substrate is formulated applying the Johnsen-Rahbek approximation for the attractive surface stresses and the Derjaguin-Muller-Toporov (DMT) hypothesis about the influence of the adhesive stresses on the deformable shape of the elastic body. An approximate solution is obtained using the Winkler-Fuss deformation model with the equivalent (contact load dependent) stiffness coefficient evaluated according to the Xydas-Kao soft finger model. The friction force under applied voltage is evaluated as the product of the coefficient of friction and the integral of the macro contact pressure over the apparent contact area. The upper and lower estimates for the friction force are discussed in the case of absence of any external normal load.